jsk_apc

jsk_apc is a stack of ROS packages for Amazon Picking Challenge mainly developed by JSK lab.
The documentation is available at here.

Build Status

| Package | Indigo (Trusty) | |--------------------------|-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------| | jsk_apc (32-bit) | | | jsk_apc (64-bit) | |

Usage

See jsk_2015_05_baxter_apc.

Install

Required

Install the ROS. Instructions for ROS indigo on Ubuntu 14.04.
Setup your ROS environment.
Build catkin workspace for jsk_apc:

$ mkdir -p ~/ros/ws_jsk_apc/src && cd ~/ros/ws_jsk_apc/src
$ wstool init . https://raw.githubusercontent.com/start-jsk/jsk_apc/master/fc.rosinstall
$ cd ..
$ rosdep install -y -r --from-paths .
$ sudo apt-get install python-catkin-tools ros-indigo-jsk-tools
$ catkin build
$ source devel/setup.bash

Edit /etc/hosts:

133.11.216.214 baxter 011310P0014.local

Add below in your ~/.bashrc:

$ rossetmaster baxter.jsk.imi.i.u-tokyo.ac.jp
$ rossetip

$ # we recommend below setup (see http://jsk-docs.readthedocs.org/en/latest/jsk_common/doc/jsk_tools/cltools/setup_env_for_ros.html)
$ echo """
rossetip
rosdefault
""" >> ~/.bashrc
$ rossetdefault baxter  # set ROS_MASTER_URI as http://baxter:11311

Optional

Setup Kinect2

Please follow Instructions at code-iai/iai_kinect2, however, maybe you have error with the master branch. In that case, please use this rosinstall.

Setup rosserial + vacuum gripper

Write below in /etc/udev/rules.d/90-rosserial.rules:

# ATTR{product}=="rosserial"
SUBSYSTEM=="tty", MODE="0666"

Setup SSH

Write below in ~/.ssh/config:

Host baxter
  HostName baxter.jsk.imi.i.u-tokyo.ac.jp
  User ruser  # password: rethink

Setup Softkinetic Camera

See here for almost all install process, but for installing ROS package please do like below: