Kether

Installation

 

Kether package:

- Upload the code: kether_control.tar.gz

- Unzip the file in: ~/catkin_ws/src/

 

Dependencies 

 

1. EPOS package:

- Upload the library EPOS: EPOS_Linux_Library.zip

- Unzip the file, in the folder ~/catkin_ws/src/

Use uname -a to verify the OS.

x86_84
$ sudo cp EPOS_Linux_Library/lib/x86_64/libftd2xx.so.1.1.12 /usr/local/lib/
$ sudo ln -s /usr/local/lib/libftd2xx.so.1.1.12 /usr/local/lib/libftd2xx.so.0
$ sudo ln -s /usr/local/lib/libftd2xx.so.0 /usr/local/lib/libftd2xx.so
$ sudo ln -s /usr/local/lib/libftd2xx.so.1.1.12 /usr/lib/libftd2xx.so.0
$ sudo cp EPOS_Linux_Library/misc/99-ftdi.rules /etc/udev/rules.d
$ /etc/init.d/udev restart
$ sudo cp EPOS_Linux_Library/lib/x86_64/libEposCmd.so.5.0.1.0 /usr/lib/
$ sudo ln -s /usr/lib/libEposCmd.so.5.0.1.0 /usr/lib/libEposCmd.so.0
$ sudo ln -s /usr/lib/libEposCmd.so.0 /usr/lib/libEposCmd.so

Add in the final of the file  ~/.bashrc
$ export LD_LIBRARY_PATH=/usr/lib:/usr/local/lib

x86
$ sudo cp EPOS_Linux_Library/lib/x86/libftd2xx.so.1.1.12 /usr/local/lib/
$ sudo ln -s /usr/local/lib/libftd2xx.so.1.1.12 /usr/local/lib/libftd2xx.so.0
$ sudo ln -s /usr/local/lib/libftd2xx.so.0 /usr/local/lib/libftd2xx.so
$ sudo ln -s /usr/local/lib/libftd2xx.so.1.1.12 /usr/lib/libftd2xx.so.0
$ sudo cp EPOS_Linux_Library/misc/99-ftdi.rules /etc/udev/rules.d
$ /etc/init.d/udev restart
$ sudo cp EPOS_Linux_Library/lib/x86/libEposCmd.so.5.0.1.0 /usr/lib/
$ sudo ln -s /usr/lib/libEposCmd.so.5.0.1.0 /usr/lib/libEposCmd.so.0
$ sudo ln -s /usr/lib/libEposCmd.so.0 /usr/lib/libEposCmd.so

Add in the final of the file  ~/.bashrc
$ export LD_LIBRARY_PATH=/usr/lib:/usr/local/lib

arm
ls /lib 

$ sudo cp EPOS_Linux_Library/lib/arm/hf/libftd2xx.so.1.2.8 /usr/local/lib/
$ sudo ln -s /usr/local/lib/libftd2xx.so.1.2.8 /usr/local/lib/libftd2xx.so.0
$ sudo ln -s /usr/local/lib/libftd2xx.so.0 /usr/local/lib/libftd2xx.so
$ sudo ln -s /usr/local/lib/libftd2xx.so.1.2.8 /usr/lib/libftd2xx.so.0
$ sudo cp EPOS_Linux_Library/misc/99-ftdi.rules /etc/udev/rules.d
$ /etc/init.d/udev restart
$ sudo cp EPOS_Linux_Library/lib/arm/hf/libEposCmd.so.5.0.1.0 /usr/lib/
$ sudo ln -s /usr/lib/libEposCmd.so.5.0.1.0 /usr/lib/libEposCmd.so.0
$ sudo ln -s /usr/lib/libEposCmd.so.0 /usr/lib/libEposCmd.so

Add in the final of the file  ~/.bashrc
$ export LD_LIBRARY_PATH=/usr/lib:/usr/local/lib

 

2. Camera

sudo apt-get install ros-indigo-image-view
sudo apt-get install ros-kinetic-usb-cam
$ cd ~/catkin_ws/src
$ git clone https://github.com/ros-teleop/teleop_twist_joy.git
$ sudo apt-get install ros-kinetic-joy ros-kinetic-joystick-drivers ros-kinetic-teleop-twist-joy
$ git clone https://github.com/ROBOTIS-GIT/turtlebot3.git
$ git clone https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
$ git clone https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git

 

3. Laser 

You have to get the hokuyo_node package. You can install it using:

$ sudo apt-get update
$ sudo apt-get install ros-kinetic-urg-node
$ sudo chmod 777 /dev/ttyACM0

 

Compile the packages:

$ cd ~/catkin_ws/
$ catkin_make
$ source ~/catkin-ws/devel/setup.bash

 

Configure Real Robot

 

EPOS:

Check the USB ports that have been enabled for EPOS:
Obs. Necessary to connect the USB EPOS and power on.
$ ls -l /dev/bus/usb*
Use these ports:
$ sudo chmod 777 /dev/bus/usb/0XX/XXX
$ sudo chmod 777 /dev/bus/usb/0XX/XXX

 

LASER HOKUYO

$ ls -l /dev/ttyACM0
$ sudo chmod a+rw /dev/ttyACM0
$ rosparam set hokuyo_node/calibrate_time false
$ rosparam set hokuyo_node/port /dev/ttyACM0

PROGRAM

//Hokuyo in new terminal
$ rosrun urg_node urg_node

//Manipulate Kether by keyboard, is necessary 4 terminal
$roslaunch teleop_twist_joy teleop.launch
$roslaunch kether_control kether.launch
$rosrun kether_control kether_twist
$rosrun turtlebot3_teleop turtlebot3_teleop_key


//visualize the camera, in new terminal
$roslaunch usb_cam usb_cam-test.lauch
$rqt_graph
$rosrun image_view image_view image:/usab_cam/image_raw