cs225a

Repository for class resources: CS225a experimental robotics

Automatic Installation Instructions (for Ubuntu and Mac only)

1. If you have a Mac, install Brew (https://brew.sh/). If you have Ubuntu, install git (sudo apt install git)

2. Clone this repository

   git clone https://github.com/tmigimatsu/cs225a-dist.git cs225a.git

3. Download sai2-simulation.zip from AFS and extract its contents into cs225a.git/sai2-simulation.

4. Run the install script inside cs225a.git. This will take a few minutes.

   sh install.sh

5. Build the cs225a applications

   sh make.sh

Manual Installation Instructions (for any Linux distro or Mac)

1. Install Brew for Mac (https://brew.sh/) or have Ubuntu installed or any other distro with the following packages. Also install git (sudo apt-get install git). Windows will have to dualboot ubuntu or install a VM.

2. Install Cmake

   Linux: sudo apt-get install cmake

   Mac: brew install cmake

3. Install Eigen

   Linux:sudo apt-get install libeigen3-dev

   Mac:brew install eigen

4. Install TinyXML

   Linux:sudo apt-get install libtinyxml2-dev

   Mac:brew install tinyxml2

5. Install JsonCPP

   Linux:sudo apt-get install libjsoncpp-dev

   Mac:brew install jsoncpp

6. Install HiRedis Client

   Linux:sudo apt-get install libhiredis-dev

   Mac:brew install hiredis

7. Install GLFW + Other things Chai3D Needs

   Linux:

   sudo apt-get install libglfw3-dev
   sudo apt-get install xorg-dev
   sudo apt-get install freeglut3-dev
   sudo apt-get install libasound2-dev
   sudo apt-get install libusb-1.0-0-dev
   

   Mac:

   brew install glfw3
   brew install libusb
   

8. Install Redis-Server

   Linux:sudo apt-get install redis-server

   Mac:brew install redis

9. Install Yaml-CPP

   Linux:sudo apt-get install libyaml-cpp-dev

   Mac:brew install yaml

10. Clone, Build, Install RBDL Download a copy of the repository as a zip from https://bitbucket.org/rbdl/rbdl Extract into a folder (should be called rbdl)

    cd rbdl
    mkdir build 
    cd build
    cmake -DRBDL_BUILD_ADDON_URDFREADER=On -DRBDL_USE_ROS_URDF_LIBRARY=OFF ..
    make -j4
    sudo make install
    

11. Install Chai

    Download and extract the multiplatform release from : http://www.chai3d.org/download/releases Cd into the extracted folder

    mkdir build
    cd build
    cmake ..
    make -j4
    

12. Extract the Zip of SAI2 Simulation Library given to you and cd into the extracted folder.

    mkdir build
    cd build
    cmake ..
    make -j4
    

13. Clone the SAI2 Common library and Build

    git clone https://github.com/manips-sai/sai2-common.git
    cd sai2-common
    mkdir build
    cd build
    cmake ..
    make -j4
    

14. Clone This Repo

    sh make.sh
    

Post-Installation

1. Inside bin, you will find visualizer, simulator, and hw0

   ./hw0 &
   ./visualizer &
   

   Note this opens up the applications in the background, use "jobs" to see currently running jobs and "fg" or "bg" to foreground next job or background next job

1.5 You can also run the script inside the bin folder "run_hw0.sh" to run hw0. Ctrl-c on the shell to quit.

2. Read the source code of hw0 inside src/hw0/hw0.cpp and the URDF file src/RRPbot.urdf and src/world.urdf to understand what is happening inside the robot code and how the simple robot is described both kinematically and graphically.