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Установка
=========
## Project dependencies
Internal dependencies:
* [`sweetie_bot_proto2_movements`](https://gitlab.com/sweetie-bot/sweetie_bot_proto2_movements) --- stored movements for Proto2,
* [`sweetie_bot_sounds`](https://gitlab.com/sweetie-bot/sweetie_bot_sounds) --- sound package.
External dependencies:
* [ROS Kinetic Kame](http://wiki.ros.org/kinetic/Installation) or later. We need following packages:
* `ros_base` --- basic ROS installation.
* MoveIt! packages.
* `eigen-conversions`, `tf-conversions`, `interactive-markers`.
* `orocos_kdl` and `track_ik` kinematics packages.
* [`rospy_message_converter`](https://github.com/baalexander/rospy_message_converter)
* [`rviz_textured_quads`](https://github.com/lucasw/rviz_textured_quads)
* [OROCOS 2.9](https://github.com/orocos-toolchain/orocos_toolchain), it is recommended slightly modified version from [here](https://github.com/disRecord) with improved lua completion. Also ROS package may be used but it may have some limitation.
* Additional ROS packages
* [`rtt-ros-integration` 2.9](https://github.com/orocos/rtt_ros_integration) (You may use ROS packages).
* [`kdl_msgs`](https://github.com/orocos/kdl_msgs), [rtt_kdl_msgs](https://github.com/orocos/rtt_kdl_msgs), [`rtt_geometry`](https://github.com/orocos/rtt_geometry).
* [`rttlua_completion`](https://github.com/orocos-toolchain/rttlua_completion), рекомендуется модифицированная версия [отсюда](https://github.com/disRecord)
* `rtt_tf2_msgs`,`rtt_control_msgs` typekit packages can be generated with [`rtt_roscom`](https://github.com/orocos/rtt_ros_integration/tree/toolchain-2.9/rtt_roscomm)
* [Rigid Body Bynamics Library 2.5](https://rbdl.bitbucket.io/). Note that 2.6 version is not supported due changed quaternion semantic.
* [ALGLIB library](http://www.alglib.net) you may use package `libalglib-dev`)
* [FlexBe](http://philserver.bplaced.net/fbe/) behavior framework.
* [`flexbe_behavior_engine`](https://github.com/team-vigir/flexbe_behavior_engine/tree/feature/flexbe_app), specifically `feature/flexbe_app` branch for `felxbe_app` support.
* [`flexbe_app`](https://github.com/FlexBE/flexbe_app).
* [`felexbe_general_states`](https://github.com/FlexBE/generic_flexbe_states).
* QT5 development packages (`libqt5-dev`).
## Installation from binary packages
We have repository with binary packages for Ubuntu 16.04, Debian 9 Stretch and Raspbian.
Add apt keys
```
$ sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys 5523BAEEB01FA116
$ wget -O - https://raw.githubusercontent.com/slavanap/ros-build/master/slavanap.key | sudo apt-key add -
```
Add ROS and Sweetie Bot repositories
```
$ sudo -i
# echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list
# echo "deb http://sweetie.bot/apt $(lsb_release -sc) main" > /etc/apt/sources.list.d/sweetie-bot.list
```
Install binary packages
```
$ sudo apt-get update
$ sudo apt-get install ros-lunar-sweetie-bot ros-lunar-sweetie-bot-base
```
Note that `ros-lunar-sweetie-bot-base` package conflicts with OROCOS toolchain ROS packages.
Sweetie Bot specific software is installed in `/opt/ros/sweetie_bot` directory.
Install `sweetie_bot_sounds`, `sweetie_bot_proto2_movements` and `sweetie_bot_flexbe_behaviors`:
```
$ mkdir -p ~/ros/sweetie_bot/src
$ cd ~/ros/sweetie_bot/src
$ git clone git@gitlab.com:sweetie-bot/sweetie_bot_sounds.git
$ git clone git@gitlab.com:sweetie-bot/sweetie_bot_proto2_movements.git
$ git clone git@gitlab.com:sweetie-bot/sweetie_bot_flexbe_behaviors.git
```
Due to software bugs `flexbe_app` and `rviz_textured_quads` should be also installed in workspace:
```
$ git clone https://github.com/lucasw/rviz_textured_quads.git inc/rviz_textured_quads
$ git clone https://github.com/FlexBE/flexbe_app.git
```
Compile workspace
```
$ cd ~/ros/sweetie_bot
$ source /opt/ros/sweetie_bot/setup.bash
$ catkin_make
```
Then in another console setup ROS environment
```
$ source /opt/ros/sweetie_bot/setup.bash
```
and launch Sweetie Bot control software as described in Usage section.
## Installation from sources
Your may compile Sweetie Bot manually in ROS workspace. This method does not conflicts with installation from binary packages due to ROS overlay mechanism.
Let's assume that all build requirements are satisfied. Or you can install them from binary package `ros-lunar-sweetie-bot-base`.
Create ROS workspace:
```
mkdir -p ~/ros/sweetie_bot/src
```
Clone dependencies if necessary and generate typekit packages if they not installed.
If you are using `ros-lunar-sweetie-bot-base` package only FlexBe and `rviz_textured_quads` are needed.
```
cd ~/ros/sweetie_bot/src; mkdir inc; cd inc
git clone https://github.com/lucasw/rviz_textured_quads.git
git clone -b feature/flexbe_app https://github.com/team-vigir/flexbe_behavior_engine.git
git clone https://github.com/FlexBE/flexbe_app.git
```
Due to the bug (quads are always black) it is recommended to install `rviz_textured_quads` in Sweetie Bot workspace.
Clone SweetieBot sources:
```
cd ~/ros/sweetie_bot/src
git clone -b devel --recursive git@gitlab.com:sweetie-bot/sweetie_bot.git
git clone git@gitlab.com:sweetie-bot/sweetie_bot_sounds.git
git clone git@gitlab.com:sweetie-bot/sweetie_bot_proto2_movements.git
git clone git@gitlab.com:sweetie-bot/sweetie_bot_flexbe_behaviors.git
mkdir msgs; cd msgs;
git clone https://github.com/orocos/rtt_kdl_msgs
git clone https://github.com/orocos/kdl_msgs.git
git clone https://github.com/orocos/rtt_geometry.git
rosrun rtt_roscomm create_rtt_msgs control_msgs
rosrun rtt_roscomm create_rtt_msgs tf2_msgs
```
Compile:
```
source /opt/ros/lunar/setup.bash
cd ~/ros/sweetie_bot
catkin_make
```
## Full installation from sources
On some platforms ROS and OROCOS are not available, so almost all dependencies should be compiled and installed manulally.
Use this [repository](https://github.com/slavanap/ros-build) and this Docker images [here](https://hub.docker.com/r/slavanap/ros-build/tags/).
Also you can find instructions about compiling and crosscompiling OROCOS [here](https://gitlab.com/sweetiebot/compile_orocos).
## Build status
### Base package
Platform | Status
----------------|--------------
Desktop | [![Build Status](https://travis-ci.org/slavanap/ros-build.svg?branch=master)](https://travis-ci.org/slavanap/ros-build)
Raspberry Pi 3 | [![Build Status](https://travis-ci.org/slavanap/ros-build.svg?branch=rpi3)](https://travis-ci.org/slavanap/ros-build/branches)
### Main package
[![Build Status](https://gitlab.com/sweetie-bot/sweetie_bot/badges/devel/build.svg)](https://gitlab.com/sweetie-bot/sweetie_bot/pipelines)
<!--FG
Список зависимостей проекта
----------------------------
......@@ -120,5 +260,5 @@ wstool set generic_flexbe_states --git https://github.com/FlexBE/generic_flexbe_
wstool set flexbe_behavior_engine --git https://github.com/team-vigir/flexbe_behavior_engine.git
wstool update
cd ..
catkin_make
catkin_make -->
```