Differences

This shows you the differences between two versions of the page.

--- installing_gazebo_with_drc-hubo_model [2016/09/01 09:17] – keitaronishimura
+++ installing_gazebo_with_drc-hubo_model [2018/02/18 15:03] (current) – keitaronishimura
@@ Line 5: / Line 5: @@
 ===How to use this tutorial===
 \\
-This tutorial will walk the reader through ROS and simulator installation with the DRC-Hubo model. This tutorial will lightly go over how to get the two to work together. But controlling the model through PODO will be explained in another tutorial. The reader is expected to be comfortable with using terminal in Ubuntu. This tutorial will take the reader 1.5-2 hrs to finish.
+This tutorial will walk the reader through ROS and simulator installation with the DRC-Hubo model. This tutorial will lightly go over how to get the two to work together. But controlling the model through PODO will be explained in another tutorial. The reader is expected to be comfortable with using the terminal in Ubuntu. This tutorial will take the reader 1.5-2 hrs to finish.
 \\
 I will recommend that the reader use multiple monitors since there are going to be multiple programs open at once.
@@ Line 19: / Line 19: @@
 ===Computer and Software Configuration for DRC-Hubo Simulator===
 \\
-For the purpose of simulating real-time events having a higher end computer is recommended. Having and Intel i5-4th gen. is a minimum, and having a dedicated GPU is recommended. However the Intergraded Intel HD 5000 series is the minimum needed to run the necessary software. You will need to have a computer that has Ubuntu 14.04LTS or newer. If you don't please install Ubuntu before going further.
+For the purpose of simulating real-time events having a higher end computer is recommended. Having and Intel i5-4th gen. is a minimum, and having a dedicated GPU is recommended. However, the author was able to run the software using an Intergraded Intel HD 5000 series chip. You will need to have a computer that has Ubuntu 16.04LTS. If you don't please install Ubuntu before going further.
 \\
 ===ROS Installation===
 \\
-You will first need to install gazebo5, which is one of the simulators used. Do not download any other version as the code is not compatible. Use the command:
+You will first need to install gazebo7. Do not download any other version as the code will not be compatible. If:
+\\
 ----
 <fc purple>
-sudo apt-get install gazebo5
+sudo apt-get install gazebo7
 </fc>
 ----
@@ Line 38: / Line 39: @@
 \\
 To install ROS please refer to these links:
-  *[[http://wiki.ros.org/jade/Installation/Ubuntu|Installation]]
+  *[[http://wiki.ros.org/kinetic/Installation/Ubuntu|Installation for Kinetic on Ubuntu 16.04]]
 \\
-This is the installation for ROS-Jade. This version comes pre-installed with gazebo 5.3.0. If you have a different version of ROS it is ok. Just delete your version of gazebo and install 5.3.0. If the reader already has ROS I trust that the reader will be able to figure this out.
+This is the installation for ROS-Kinetic. These come pre-installed with gazebo7 but it is just the ros plugin instead of a full install. That is why we needed to do a full install beforehand.
 \\
   *[[http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment|Creating workspace]]
 \\
-If you are new to ROS you will need to create your workplace (part 3 of tutorial) in order to go further.
+If you are new to ROS you will need to create your workplace (part 3 of the tutorial) in order to go further.
 \\
 {{:tut1.png?400}}
+\\
+Once done with setting up the workspace all terminals used and don't forget to add it to your bashrc file so you don't need to source it all the time. First, open the .bashrf file in a new terminal:
+----
+<fc purple>
+gedit ~/.bashrc
+</fc>
+----
+Then add this line of code at the very end of the file:
+----
+<fc purple>
+source ~/catkin_ws/devel/setup.bash
+</fc>
+----
 \\
 ===Installation of DRC-Hubo Plugin===
 \\
-Once You have finished installation of ROS and the workspace it is time to download Gazebo.
+Once You have finished installation of ROS and the workspace it is time to download the Gazebo model of HUB.
 . Open a terminal and run the command:
@@ Line 59: / Line 73: @@
 </fc>
 ----
-then run:
+run:
 ----
 <fc purple>
-git clone -b indigo-devel https://github.com/JeongsooLim/drc_hubo
+git clone https://github.com/JeongsooLim/drc_hubo
 </fc>
 ----
@@ Line 75: / Line 89: @@
 </fc>
 ----
-then run the command:
+\\
+<fc red>
+Note: If you get an error stating that the .gazebo/models directory doesn't exist just add it manually:
+</fc>
 ----
 <fc purple>
- source ~/catkin_ws/devel/setup.bash
+mkdir -r ~/.gazebo/models
 </fc>
 ----
@@ Line 221: / Line 238: @@
 ===QT Instalation===
-. Download the .run file from this link (download.qt.io/archive/qt). Look for version 5.5.1.
+Follow the instructions in the real-time installation tutorial
-\\
-{{podo_inst:index_of_-archive-qt_-_mozilla_firefox_015.png?400}} {{podo_inst:index_of_-archive-qt-5.5_-_mozilla_firefox_016.png?400}} {{podo_inst:index_of_-archive-qt-5.5-5.5.1_-_mozilla_firefox_018.png?400}}
-\\
-. Find the directory holding the .run file and cd to it. Then run:
-----
-<fc purple>
-sudo chmod 777 [name of .run file]
-</fc>
-----
-to change it into an executable file.
-. Run:
-----
-<fc purple>
-sudo ./[name of .run file]
-</fc>
-----
-\\
-{{podo_inst:hyunhee_hyunhee-desktop_-downloads_019.png?400}}
 \\
-. Check the /opt folder to make sure that qt5.5.1 was properly installed.
 ===How to Start Gazebo Simulator with PODO===
@@ Line 290: / Line 287: @@
 </fc>
 ----
-finally launch gazebo and r-viz using the command:
+finally, launch gazebo and r-viz using the command:
 ----
 <fc purple>