====== Rosie Bringup Procedure ======

  * Checkout and compile the following stacks into your ROS overlay. Contact [[http://ias.cs.tum.edu/people/kresse|Ingo]] if you do not have an access.

  ias_manipulation  ias_manipulation_nonfree  mapping  tumros-internal

  * Add your overlay and the "aux" folder to your package path by sourcing the following in your ".bashrc"

  export ROS_PACKAGE_PATH=$HOME/ros/overlay:/opt/ros/electric/aux:$ROS_PACKAGE_PATH

  * make sure your ssh keys are working (authorized on the robot and loaded into your agent)
  * make sure, the robot computers ssh fingerprints are known.

  * Setup halcon environment variables by putting the following into your ".bashrc":

  export HALCONROOT=/usr/local/halcon10
  export HALCONARCH=x86sse2-linux2.4-gcc40
  export HALCONARCH=x64-linux2.4-gcc40
  export HALCONIMAGES=${HALCONROOT}/images
  export PATH=${HALCONROOT}/bin/${HALCONARCH}:${PATH}
  export LD_LIBRARY_PATH=${HALCONROOT}/lib/${HALCONARCH}:${LD_LIBRARY_PATH}
  export PKG_CONFIG_PATH=/usr/lib/pkgconfig/
  export GENICAM_ROOT_V1_1=${HALCONROOT}/genicam
  export LD_LIBRARY_PATH=${LD_LIBRARY_PATH}:${GENICAM_ROOT_V1_1}/lib64

  * Rosmake "rosie_dashboard" and "rosie_bringup" packages. 
  * Turn on both arms using the switch on the {{:tutorials:arm-switch-kuka.jpg?linkonly|Kuka control boxes}} and wait for 5min.
  * The configuration of the key switch on the teaching pendant has to be as {{:tutorials:teaching_pendant.jpg?linkonly|following}}. Possibly you need to disengage the red emergency switch and press the button right of the key switch (the one with "I" symbol)
  * Disengage the {{:tutorials:safety-switch.jpg?linkonly|emergency stop}} for the base and the PC modules.
  * Re-connect power for the Kinect sensor (TODO: still needed? If yes upload the pic)
  * Launch rosie_dashboard

  rosrun rosie_dashboard rosie_dashboard

  * Turn on the relays (you should hear the click-click sound)

  rosrun power_relay on

  * Setup yarp

  rosrun yarp2 yarp detect
  rosrun yarp2 yarp namespace /kuka
  rosrun yarp2 yarp detect --write

  * Set ROS_MASTER_URI in ~/.bashrc:
  export ROS_MASTER_URI=http://leela:11311

  * Run the rosie.launch file:

  roslaunch rosie_bringup rosie.launch

  * Use the Wii controller as {{:tutorials:wii2.jpg?linkonly|following}}.
  * In "demo_scripts" package (tumros-internal) there are also several demo programs

====== Rosie Bringdown Procedure ======
  * Terminate "rosie.launch"
  * Turn off the relays (you should hear the click-click sound)

  rosrun power_relay off

  * Switch off the arms on {{:tutorials:arm-switch-kuka.jpg?linkonly|Kuka control boxes}}.
  * Engage the {{:tutorials:safety-switch.jpg?linkonly|emergency stop}} for the base and the PC modules. 
  * Disconnect the Kinect sensor.