Project

General

Profile

Edit History

Installing simulation environment » History » Version 21

Christophe Reymann, 2018-05-18 13:21

1 1 Christophe Reymann 
h1. Installing simulation environment
2 2 Christophe Reymann 





    3
    5
    Christophe Reymann
    
h2. Dependencies





    4
    6
    Christophe Reymann
    





    5
    17
    Nicolas Holvoet
    
* Python3 with setuptools, docopt, numpy, pyaml, rospkg, catkin_pkg





    6
    6
    Christophe Reymann
    
* Eigen3





    7
    16
    Nicolas Holvoet
    
* GDAL (version > 2)





    8
    1
    Christophe Reymann
    
* CMake





    9
    15
    Christophe Reymann
    
* libglew, libglew-dev





    10
    18
    Nicolas Holvoet
    
* ROS kinetic (on ubuntu: ros-kinetic-desktop ros-kinetic-tf2-eigen)





    11
    
    
    
* Blender





    12
    14
    Nicolas Holvoet
    
* A c++14 compatible compiler





    13
    2
    Christophe Reymann
    





    14
    
    
    
h2. On own computer





    15
    3
    Christophe Reymann
    





    16
    4
    Christophe Reymann
    
Make sure ROS environment is sourced, then:





    17
    3
    Christophe Reymann
    
<pre>





    18
    11
    Christophe Reymann
    
git clone ssh://git@redmine.laas.fr/laas/users/simon/agridrone/precidrones-main.git && cd precidrones-main/dev && rsync -r /net/skyscanner/volume1/data/precidrone/IGN . && make world





    19
    3
    Christophe Reymann
    
</pre>





    20
    13
    Christophe Reymann
    
And make sure to import the morse simulations before using them, for example (in the precidrones-main/dev folder):





    21
    
    
    
<pre>





    22
    
    
    
morse import morse/preci1





    23
    
    
    
</pre>





    24
    2
    Christophe Reymann
    





    25
    
    
    
h3. On LXD vm





    26
    7
    Christophe Reymann
    





    27
    19
    Christophe Reymann
    
Install and configure lxd:





    28
    
    
    
<pre>





    29
    
    
    
sudo snap install --edge lxd





    30
    
    
    
sudo lxd init





    31
    
    
    
</pre>





    32
    
    
    
Lxd will ask for configuration, I used:





    33
    
    
    
* clustering: no





    34
    
    
    
* new storage pool: yes





    35
    
    
    
* name: default





    36
    
    
    
* type: zfs





    37
    
    
    
* create new zfs pool: yes





    38
    
    
    
* use existing block device: no





    39
    
    
    
* size in GB of the new loop device: 40





    40
    
    
    
* connect to a MAAS server: no





    41
    
    
    
* create local network bridge: yes





    42
    
    
    
* bridge name: lxdbr0





    43
    
    
    
* ipv4 address: auto





    44
    
    
    
* ipv6 address: auto





    45
    
    
    
* LXD availqble over the network: yes





    46
    
    
    
* address to bind lxd to: all





    47
    
    
    
* port: 8443





    48
    
    
    
* trust password: <password>





    49
    
    
    
* auto update stale cached images: yes





    50
    
    
    
* print YAML lxd preseed: yes





    51
    20
    Christophe Reymann
    





    52
    
    
    
Creating the container:





    53
    
    
    
<pre>





    54
    
    
    
sudo lxc launch ubuntu:16.04 precidrone-sim





    55
    
    
    
</pre>





    56
    21
    Christophe Reymann
    





    57
    
    
    
Configuring the container:





    58
    
    
    





    59
    
    
    
Installing dependencies:





    60
    
    
    
<pre>





    61
    
    
    
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'





    62
    
    
    
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116





    63
    
    
    
sudo apt update





    64
    
    
    
sudo apt install ros-kinetic-ros-base ros-kinetic-tf2-eigen





    65
    
    
    





    66
    
    
    
</pre>