bwi
This repository contains top-level ROS packages for the Building Wide Intelligence (BWI) project of the University of Texas at Austin Computer Science Department.
BWI Repository Hierarchy
Packages contained in various released BWI repostories may depend on other packages at the same or lower levels. Dependencies on packages from higher-level repositories are not permitted.
From top to bottom, the released repositories are:
Installation
As a Docker Image
Currently the BWI base is supported up to Ubuntu 18.04 and ROS Melodic. If you are using Ubuntu 20.04 LTS+, you can install and build the BWI code base as a Docker image using the bwi-docker package.
From Source
You can install all the BWI components normally built from source on either ROS Indigo, Kinetic, or Melodic. For the V4 bots, use Melodic.
First, install ROS Indigo, Kinetic, or Melodic. The Kinetic version is only supported on Ubuntu Xenial, and is only partially functional.
Then, make sure the ROS_DISTRO environment variable is set correctly:
echo $ROS_DISTRO
It may already be. If not, issue the appropriate one of these two shell commands:
$ export ROS_DISTRO=kinetic
or
$ export ROS_DISTRO=melodic
Next, clone the source repositories:
$ source /opt/ros/$ROS_DISTRO/setup.bash
$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws
$ wstool init src https://raw.githubusercontent.com/utexas-bwi/bwi/master/rosinstall/$ROS_DISTRO.rosinstall
Install all dependencies:
$ rosdep update
$ rosdep install --from-paths src --ignore-src --rosdistro $ROS_DISTRO -y
If you are setting up a workspace on a BWIbot V4 in Anna Hiss Gym, continue from here with the "Special Installation Instructions for Version 4 Robots" below.
Then, build everything. On a slow computer:
$ catkin build -j2
$ source devel/setup.bash
Or on a fast computer:
$ catkin build -j6
$ source devel/setup.bash
Or you can adjust the job limit as you see fit.
Note that the catkin build command from the python-catkin-tools package is required for building on ROS Kinetic and Melodic. On ROS Indigo, you can still use catkin_make instead, although the newer build tool is recommended.
Special Installation Instructions for Version 4 Robots:
The V4 bots at AHG use some additional branches of the utexas-bwi repo. To install these, run the following commands from your ~/catkin_ws directory (they will change directories):
$ cd ~/catkin_ws/src/bwi_common
$ git submodule init
$ git submodule update
$ cd ~/catkin_ws/src && git clone --branch ahg2s_map https://github.com/utexas-bwi/ahg_common.git
Then build everything from the ~/catkin_ws directory:
$ cd ~/catkin_ws
$ catkin build -j6
The V4 base uses slightly different values for some environment variables. It's important to export them into your environment after sourcing the workspace. To automate that, add the convenience function "sws" to the bottom of your .bashrc file found at ~/.bashrc.
sws() {
source ~/catkin_ws/devel/setup.bash
export SEGWAY_INTERFACE_ADDRESS=10.66.171.1
export SEGWAY_IP_ADDRESS=10.66.171.5
export SEGWAY_IP_PORT_NUM=8080
export SEGWAY_BASE_PLATFORM=RMP_110
export SEGWAY_PLATFORM_NAME=RMP_110
}
sws
After building your workspace or packages, instead of using "source devel/setup.bash" , simply call the function above by typing:
$ sws
Install pyYAML:
$ pip install -U pyYAML
Then create a password for postgres. Run the script below and follow the promts to enter a password that is not empty:
$ ./src/bwi_common/knowledge_representation/scripts/configure_postgresql.sh
Finally, run the command prepare_knowledge_bwi_ahg:
$ prepare_knowledge_bwi_ahg
At this point, you should run the BWIbot V4 visit doors demo in Anna Hiss Gym to validate the installation.