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  1. Update the OS

    • sudo apt-get update
    • sudo apt-get upgrade
    • sudo apt-get dist-upgrade

  2. Install Google Chrome stable from a repo

    • wget -q -O - https://dl-ssl.google.com/linux/linux_signing_key.pub | sudo apt-key add -
    • echo 'deb [arch=amd64] http://dl.google.com/linux/chrome/deb/ stable main' | sudo tee /etc/apt/sources.list.d/google-chrome.list
    • sudo apt-get update
    • sudo apt-get install google-chrome-stable

  3. Installed markdown for chrome.

    • Visit: https://chrome.google.com/webstore/detail/markdown-viewer/ckkdlimhmcjmikdlpkmbgfkaikojcbjk/related?hl=en
    • Click on Markdown Viewer icon on top right
    • Choose "ADVANCED OPTIONS"
    • Choose "ALLOW ACCESS TO FILE:// URL"
    • Turn on the option: "Allow access to file URLs"

  4. Install additional tools

    • sudo apt-get install meld minicom ant git gitk gksu openssh-server terminator gparted git-core python-argparse python-wstool python-vcstools build-essential gedit-plugins

  5. Install additional simplescreenrecorder for recording the desktop

    • sudo add-apt-repository ppa:maarten-baert/simplescreenrecorder
    • sudo apt-get update
    • sudo apt-get install simplescreenrecorder

  6. Extend length of History

    • In the ~/.bashrc file change the below settings to lengthen the history file. Just add a couple zero’s to each setting.
    • HISTSIZE=100000
    • HISTFILESIZE=200000

  7. Modify Power Saving

    • Go to System Settings -> All Settings -> Brightness & Lock
    • Check 'Dim screen to save power'
    • Set "Turn screen off when inactive for: Never"
    • Disable screen lock

  8. Edit Terminal's Default Profile

    • Open Terminal. Click on Edit -> Profile Preferences
    • On the Scrolling tab, uncheck the box "Limit scrollback to:"

  9. GEDIT Preferences.

    • Open a text file using Gedit or type gedit in a terminal window and hit enter. This brings up the text editor.
    • Click Edit -> Preferences -> Editor.
    • Change Tab width to 4 , Check the box for "Insert spaces instead of tabs"
    • Enable block commenting. Click Edit -> Preferences -> Plugins, and check the box for "Code Comment"
    • Enable highlight matching brackets. Click Edit -> Preferences -> View, and check the box for "Highlight matching brackets"

  10. Allow user1 to dialout on USB devices

    • sudo adduser user1 dialout

  11. Setup git

    • git config --global user.email "[email protected]"
    • git config --global user.name "User1 Nuvo"
    • git config --global push.default simple
    • git config --global credential.helper "cache --timeout=60000"

  12. Setup DI2E access with keys

    • Add the public key to the computers known-hosts.
      • Copy the public key to ~/.ssh:
        cd ~/.ssh
      • Set proper permission for key:
        chmod 600 ~/.ssh/bitBucket_id_rsa
      • Add key to knownhosts
        ssh-add ~/.ssh/bitBucket_id_rsa
      • Enter the passphrase if prompted.

  13. Clone this repo from DI2E bitbucket:

    • cd ~

    • git clone ssh://[email protected]:7999/rtk/configuration.git

    • cd ~/configuration

    • ./setup_workspace.sh

      • Note: If the credential times out you will get errors for the repos that could not clone. If this happens reload you credentials and run the script again.
        ssh-add bitBucket_id_rsa

    • cd $HOME/code/rtk

    • catkin build

    • sudo apt-get install libopenni2-*

    THESE ERRORS occured:

    • CMake Error at /usr/lib/x86_64-linux-gnu/cmake/Qt5Gui/Qt5GuiConfig.cmake:27 (message): The imported target "Qt5::Gui" references the file

      "/usr/lib/x86_64-linux-gnu/libEGL.so"

      but this file does not exist.

    • REASON: The version of the libEGL.so and libGL.so file are hard coded somewhere. If a different version is installed on the computer then this error occurs.

    • FIX: Created a symbolic link from the missing version number to the existing version number with commands like:

    sudo rm /usr/lib/x86_64-linux-gnu/libEGL.so

    sudo ln -s /usr/lib/x86_64-linux-gnu/mesa-egl/libEGL.so /usr/lib/x86_64-linux-gnu/libEGL.so

    AND sudo rm /usr/lib/x86_64-linux-gnu/mesa/libGL.so

    sudo ln -s /usr/lib/x86_64-linux-gnu/libGL.so.1.7.0 /usr/lib/x86_64-linux-gnu/mesa/libGL.so

    After RTK success install

  14. Added to .bashrc

    • source /opt/ros/kinetic/setup.bash
    • source /home/user1/code/rtk/devel/setup.bash
    • source /home/user1/as_drivers/devel/setup.bash --extend

  15. Add Autonomous Stuff drivers These can be downloaded from AStuff github.

    Unpack the file: pacmod_ros_install.tar.gz
    Follow instructions in with the below exception: readme_first.txt
    Instead of doing the first steps, cd into the directory called pacmod_ros_install then run this command:

    chmod +x pacmod_install.sh
    ./pacmod_install.sh

    Problem with library versions again:
    205 locate listChannels
    206 sudo ln -s /usr/src/linuxcan-5.27.776 /usr/src/linuxcan-5.24.533
    207 eval /usr/src/linuxcan-5.24.533/canlib/examples/listChannels
    208 locate linuxcan

    roscd pacmod_game_control/launch && gedit pacmod_game_control.launch

    Change this:
    <arg name="is_pacmod_3" default="true" />
    to
    <arg name="is_pacmod_3" default="false" />
    and

    Change to the serial number of the device we are using. Omit the leading zero. SN of Canbus interface device: 010812
    <arg name="pacmod_can_hardware_id" default="43029" />
    to
    <arg name="pacmod_can_hardware_id" default="10812" />

    Change this:
    <arg name="pacmod_vehicle_type" default="LEXUS_RX_450H" />
    to
    <arg name="pacmod_vehicle_type" default="POLARIS_GEM" />

    Exit from pacmod_game_control.launch

  16. Verify Pacmod is working with a joystick: The Logitech Joystick that belongs to the GEM E2 must be in the x position. On the bottom of the joystick is switch with a x and y position.

    run the command:
    roslaunch pacmod_game_control pacmod_game_control.launch

    With the estop off and vehicle in Neutral and Parking Brake OFF and joystick plugged in, you can drive the E2.

  17. Install XSENS navigation system software cd ~/as_drivers/src/
    git clone https://github.com/westpoint-robotics/usma_xsens.git
    sudo apt-get install ros-kinetic-gps-common libpcap0.8-dev

    sudo su
    echo 'SUBSYSTEM=="tty", ATTRS{idProduct}=="0017", ATTRS{idVendor}=="2639", ATTRS{manufacturer}=="Xsens", SYMLINK+="mti700", ACTION=="add", GROUP="dialout", MODE="0660"' >> /etc/udev/rules.d/99-xsens.rules
    echo 'SUBSYSTEM=="tty", ATTRS{idProduct}=="0003", ATTRS{idVendor}=="2639", ATTRS{manufacturer}=="Xsens", SYMLINK+="mti300", ACTION=="add", GROUP="dialout", MODE="0660"' >> /etc/udev/rules.d/99-xsens.rules
    udevadm control --reload-rules
    exit

    Add to bashrc
    export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:/home/user1/as_drivers/src/usma_xsens

  18. Instal Vimba_2_1 Camera Drivers

    • extract the files from Vimba_v2.1.3_Linux.tgz

    • Follow the instructions on page 29 of the "Vimba Manual for Linux"

    • Install ROS package for Vimba sudo apt-get install ros-kinetic-avt-vimba-camera

  19. Pull the latest GEM updates

    • cd ~/code/rtk/src/gem_e2
    • git pull

Below here are notes on process used for initial setup:

Modify /etc/hosts file by adding: TODO: This should not be required, remove all reference to other computers should be removed.

127.0.0.1 mrzr-8803-localization
127.0.0.1 mrzr-8803-lidar
127.0.0.1 mrzr-8803-vision

Get the updated velodyne drivers from TARDEC that work with the 64E

These files came from TARDEC from Jack Hartner.

velodyne_hl folder moved to: code/rtk/src/TARDEC/tardec_perception/
rm -rf code/rtk/src/TARDEC/tardec_perception/velodyne_hl/
mv velodyne_hl/ code/rtk/src/TARDEC/tardec_perception/

velodyne_ll to: code/rtk/src/TARDEC/tardec_drivers/
rm -rf code/rtk/src/TARDEC/tardec_drivers/velodyne_ll/
mv velodyne_ll/ code/rtk/src/TARDEC/tardec_drivers/

Move other code in RTK

Modify this file:
/home/user1/code/rtk/src/SUMET/sumet_vehicle_interface/sumet_low_level_controller/src/gear_state_module.cpp

Change the below code to this: (around line 359)

void GearStateModule::handleTransmissionSense(  
  const marti_dbw_msgs::TransmissionFeedbackConstPtr &msg)  
{  
  reported_gear_ = oldRangeFromNew(msg->current_range);  
//  if (!msg->stable) {  
//    current_gear_ = snm::DbwGear::UNKNOWN;  
//  } else {  
//    current_gear_ = reported_gear_;  
//  }  
    current_gear_ = reported_gear_;  
}

user1@nuvo:~/code/rtk/src/SUMET/sumet_platform/platform_common/launch$ gedit localization.launch

Rebuild the rtk code

  • cd $HOME/code/rtk
  • catkin build

Add the 2019 Code and Launch file

255 mv mrzr_8803.launch code/rtk/src/SUMET/sumet_platform/mrzr_8803/launch/
256 mv gem_to_rtk_report.py Desktop/
257 mv rtk_to_gem_low.py Desktop/

Modify the file and save as _new gedit /home/user1/code/rtk/src/SUMET/sumet_platform/platform_common/launch/velodyne_new.launch

<arg name="front_lidar_ip" default="192.168.1.10"/> <arg name="front_lidar_model" default="HDL64E"/>

<arg name="rear_lidar_ip" default="192.168.1.10"/> <arg name="rear_lidar_model" default="HDL64E"/>

Run the system

First start WMI, it appears to have a better chance of working if WMI is running first.

Second:
user1@nuvo:$ roslaunch mrzr_8803 mrzr_8803.launch
user1@nuvo:$ python Desktop/rtk_to_gem_low.py
user1@nuvo:~$ python Desktop/gem_to_rtk_report.py

user1@nuvo:$ mv localization_new.launch /code/rtk/src/SUMET/sumet_platform/platform_common/launch
user1@nuvo:$ mv velodyne_new.launch /code/rtk/src/SUMET/^C
user1@nuvo:$ ^C
user1@nuvo:$ mv velodyne_new.launch ~/code/rtk/src/SUMET/sumet_platform/platform_common/launch

Inside:
localization_new.launch:
<node pkg="xsens_driver" type="mtnode_new.py" name="xsens_driver" output="screen" ns="xsens"> <param name="frame_id" value="$(arg frame_id)"/> <param name="frame_local" value="$(arg frame_local)"/> <param name="frame_local_imu" value="$(arg frame_local_imu)"/> <param name="device" value="/dev/mti700"/> <param name="baudrate" value="115200"/> <remap from="/localization/imu/raw" to='imu/data'/> <remap from="/localization/fix" to="fix"/> <remap from="/localization/gps" to="fix_extended"/>