Make a directory to checkout code, cd to it then:
wget http://gt-ros-pkg.googlecode.com/git/rcommander/trf_rcommander.rosinstall rosinstall . trf_rcommander.rosinstall rosinstall . /opt/ros/fuerte/
If rosinstall isn't installed, it will complain on line 2. Go ahead and install it with instructions on this page: rosinstall.
Follow instructions from the last step and insert the state that looks like this "source /home/ishwarya/svn/trf_rcommander/setup.bash" (substitute with your own) into your .bashrc file. After that, type the same command in your terminal (or open up a new one):
Do the same thing on the robot.
After ssh'ing into the robot, make sure that you have claimed the robot (robot claim) and started it (robot start). Then (ssh username@c1 if on basestation or laptop):
roslaunch trf_learn trf_rcommander.launch
Wait for it to fully start, make sure there aren't any weird error messages. It should say something like this:
[INFO] [WallTime: 1346435222.987008] left tip thresholds:[1691, 5903, 1829, 1946, 1960, 1775, 5908, 2153, 1951, 2186, 2028, 2258, 2154, 2096, 2437, 1878, 2145, 2398, 1932, 2329, 2797, 1940] [INFO] [WallTime: 1346435222.987408] right tip thresholds:[2644, 5992, 1920, 2165, 2074, 2113, 5935, 2286, 2049, 2392, 2148, 2385, 2085, 2292, 2368, 2110, 2356, 2777, 2146, 2472, 2796, 2170] done [INFO] [WallTime: 1346435222.999198] done with ReactiveGrasper init for the l arm [INFO] [WallTime: 1346435222.999561] Reactive grasp action ready [INFO] [WallTime: 1346435223.010962] done with ReactiveGrasper init for the r arm [INFO] [WallTime: 1346435223.011353] Reactive grasp action ready
Then, in a separate terminal, also ssh into the robot
roslaunch trf_learn trf_learn_supplement.launch
On your local machine run the following to launch rcommander itself.
rosrun trf_learn rcommander_trf.py
Finally, launch rviz (in a separate terminal locally):
rosrun rviz rviz
Setting things up on the robot
Run the first section of setup stuff, then setup your env.sh, add the following to your bashrc, replace USER_NAME with your username:
Use the following as a template for your env.sh:
#!/bin/sh if [ $# -eq 0 ] ; then /bin/echo "Entering environment at /opt/ros/fuerte" . /opt/ros/fuerte/setup.sh $SHELL /bin/echo "Exiting build environment at /opt/ros/fuerte" else . /opt/ros/fuerte/setup.sh . /pr/1/haidai/vcs/robhum_11_11_2012/setup.sh exec "$@" fi
Save it in your home directory and make it executable:
chmod ug+x ~/env.sh