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--- tutorials:rosie_bringup [2012/06/29 12:29] – pangerci
+++ tutorials:rosie_bringup [2012/06/29 12:44] (current) – [Rosie Bringup Procedure] kresse
@@ Line 1: / Line 1: @@
+====== 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.