RoboComp
by RoboLab, ISIS and many other collaborators.
RoboComp is an open-source Robotics framework providing the tools to create and modify software components that communicate through public interfaces. Components may require, subscribe, implement or publish interfaces in a seamless way. Building new components is done using two domain specific languages, IDSL and CDSL. With IDSL you define an interface and with CDSL you specify how the component will communicate with the world. With this information, a code generator creates C++ and/or Python sources, based on CMake, that compile and execute flawlessly. When some of these features have to be changed, the component can be easily regenerated and all the user specific code is preserved thanks to a simple inheritance mechanism.
#Installation in Ubuntu ( tested in 14.04 and 14.10)
Make sure you have installed the following packages from the Ubuntu repository:
sudo apt-get update
sudo apt-get install git git-annex cmake g++ libgsl0-dev libopenscenegraph-dev cmake-qt-gui zeroc-ice35 freeglut3-dev libboost-system-dev libboost-thread-dev qt4-dev-tools yakuake openjdk-7-jre python-pip python-pyparsing python-numpy python-pyside pyside-tools
You might also want these nice developer tools:
sudo apt-get install kdevelop vim aptitude nano
Start Yakuake by typing Alt-F2, and then yakuake in the pop up window Unroll the Yakuake terminal by pressing F12
###RoboComp core libraries
cd to your home directory (you are probably in it already) and type:
git clone https://github.com/robocomp/robocomp.git
Now we will create a symbolic link so RobComp can find everything. You will have to enter your passwd:
sudo ln -s /home/<your-linux-user> /home/robocomp
Edit your ~/.bashrc file and add these lines at the end:
export ROBOCOMP=<installation-directory>/robocomp
export PATH=$PATH:/opt/robocomp/bin
reload bash by typing:
source ~/.bashrc
Done! Now let's compile the whole thing:
cd robocomp
cmake .
make
sudo make install
RoboComp's core libraries should now be compiled and installed in /opt/robocomp
Let's now tell Linux where to find RoboComp's libraries:
cd /etc
sudo nano ld.so.conf
and add the following line:
/opt/robocomp/libs/
save the file and type:
sudo ldconfig
Done! Now let's have some fun.
###Installation of the RCIS Robotics simulator
cd ~/robocomp
cd files/freedesktop
chmod +x ./install.sh
sudo ./install.sh
cd ..
git annex get .
It will take a little while to download all necessary graphic textures used in the simulator...
And now compile the whole thing
cd ~/robocomp/tools/rcinnermodelsimulator
cmake .
make
sudo make install
Now let's run the simulator.
cd ~/robocomp/files/innermodel
rcis simpleworld.xml
Congratulations! RCIS should up and running with a simple robot endowed with a laser and an RGBD camera, moving on a wooden floor. Don't forget to turn around the floor to see the robot from above.
###Installing RoboLab's components from GitHub
cd ~/robocomp/components
git clone https://github.com/robocomp/robocomp-robolab.git
The RoboLab's set of basic robotics components are now dowloaded. You can see them in ~/robocomp/components/robocomp-robolab/components
###Connecting a JoyStick
If you have a JoyStick around, connect it to the USB port and:
cd ~/robocomp/components/robocomp-robolab/components/joystickComp
cmake .
make
cd bin
sudo addgroup your-user dialout //To solve some permissions issues un Ubuntu
./startJoyStick.sh
Your joystick should be now running and moving it will make the robot to advance and turn at your will. If the component does not start or the robot does not move stop joystickcomp with:
./forceStopJoyStickComp.sh
and check where the JoyStick has been installed in /dev/input/jsX. If it is not /dev/input/js0, edit ~/robocomp/components/robocomp-robolab/components/joystickComp/etc/config change it accordingly and restart. Note that you might want to save the config file to the component's home directory so it does not interfere with future github updates.
Yo can find more tutorials on RoboComp in tutorials!
Please, report any bugs to pbustos@unex.es