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The script install-vrep.sh automatically downloads and installs that version of V-REP. I shared a copy of that V-REP version on Google Drive. https://github.com/luigifreda/3dmr/blob/main/install-vrep.sh

Install 3DMR

Please, read the main README.md before starting with this file.

Prerequisites

Our framework works under Ubuntu 20.04 and ROS noetic. In any case, it should be easy to compile it under other platforms.

Quick start

If you didn't use the --recursive option when git cloning, then start by running: git submodule update --init --recursive.

Starting from the root folder of this repo, run the following commands:

  • install V-REP, Gazebo and ROS dependencies $ ./install.sh
  • compile all the workspaces $ ./build_all.sh
  • you can use the following command to clean the workspaces $ ./clean_all.sh
  • source the workspaces by using $ source source_all.bash

Now, you're ready to test patrolling, exploration and navigation systems (see the main README.md file).

You can find below some manual installation steps. Please, consider that you can find the same commands wrapped for you inside the above installation/build scripts.

Manually install necessary tools and ROS dependencies

We discourage a manual installation procedure. However, if you need it, below you can find some required installation steps. Please, consider that these are wrapped for you inside the install scripts mentioned above.

$ rosdep install --from-paths mapping_ws/src --ignore-src -r
$ rosdep install --from-paths patrolling_ws/src --ignore-src -r
  • these are some required packages
sudo apt-get install -y python-rosinstall
sudo apt-get install -y ros-$ROS_DISTRO-octomap-mapping ros-$ROS_DISTRO-octomap-msgs ros-$ROS_DISTRO-octomap-ros ros-$ROS_DISTRO-octomap-server
sudo apt-get install -y ros-$ROS_DISTRO-move-base-msgs 
sudo apt-get install -y ros-$ROS_DISTRO-move-base
sudo apt-get install -y ros-$ROS_DISTRO-tf2-geometry-msgs 
sudo apt-get install -y ros-$ROS_DISTRO-tf2
sudo apt-get install -y ros-$ROS_DISTRO-joy
sudo apt-get install -y ros-$ROS_DISTRO-navigation
sudo apt-get install -y ros-$ROS_DISTRO-gazebo-dev
sudo apt-get install -y sox
sudo apt-get install -y doxygen

N.B. every time you have a failure with a [package-name] you can run $ rosdep install [package-name] this automatically dowloads and installs system dependancies for the package [package-name] at hand.

Manual V-REP install

Below you can find some required installation steps. Please, consider that these are wrapped for you inside the installation scripts.

  1. Download version 3.2.2 (tested) from here
    http://coppeliarobotics.com/files/V-REP_PRO_EDU_V3_2_2_64_Linux.tar.gz
    http://coppeliarobotics.com/files/V-REP_PRO_EDU_V3_3_2_64_Linux.tar.gz
    http://coppeliarobotics.com/files/V-REP_PRO_EDU_V3_5_0_Linux.tar.gz The script install-vrep.sh automatically downloads and installs V-REP V3.5.0. I shared a copy of that V-REP version on Google Drive. See that script for further details.

  2. You don't need to compile anything. Just extract the files in your V-REP installation folder and you are ready to execute the main launcher (vrep.sh) from there.

  3. Set the environment variable VREP_ROOT_DIR: add in your .bashrc the following line
    export VREP_ROOT_DIR=<absolute path of your V-REP installation folder (which contains the launcher vrep.sh)>
    for instance
    export VREP_ROOT_DIR=/usr/local/V-REP_PRO_EDU_V3_2_2_64_Linux
    export VREP_ROOT_DIR=/usr/local/V-REP_PRO_EDU_V3_3_2_64_Linux
    export VREP_ROOT_DIR=/usr/local/V-REP_PRO_EDU_V3_5_0_Linux

  4. Once you have updated and compiled the tradr-simulation stack, you have to copy the lib patrolling_ws/devel/lib/libv_repExtRos.so in the installation folder VREP_ROOT_DIR (NOTE: this lib enables V-REP to get and parse track-velocity command messages)

Note: at present time, V-REP 3.3 does not work with our framework. Please, use V-REP 3.2.2. We will fix the current issues (UGV model scripts and V-REP 3.3) ASAP. At present time V-REP 3.5 seems to correctly work. In the different scenes, UGV script has been fixed in order to properly work. If you find a scene that does not correctly work, please, check that the contained UGV scripts have the jaco arm lines commented (compare with this script).

Test V-REP installation

You can test if V-REP is correctly installated by running the following commands:
$ cd $VREP_ROOT_DIR
$ sh vrep.sh

Note: the environment variable should have been set for you by the install script install.sh inside ~/.bashrc.

In order to check if the TRADR UGV model is correctly managed, run from the root folder of the 3dpatrolling repo:
$ source source_all.bash
$ roslaunch vrep_ugv_simulation vrep_ugv_simulation.launch
Once the V-REP main window shows up, press the play button.
You can then shut down all the nodes by running
$ rosrun path_planner kill_vrep_sim

Robots do not show up in RVIZ

If robots do not appear in RVIZ, you can easily solve this issue by running in your shell:
$ export LC_NUMERIC="en_US.UTF-8"

Now, this command has been hadded in the source_all.bash scripts. For further details, see this page.