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1-Installation.md

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Installation

Check Official documentation for more details on installations

Full Installation

Procedure

(requirements: Ubuntu Linux 18.04, 20.04, or 22.04)

Full desktop installation:

sudo apt install curl
curl 'https://raw.githubusercontent.com/Interbotix/interbotix_ros_manipulators/main/interbotix_ros_xsarms/install/amd64/xsarm_amd64_install.sh' > xsarm_amd64_install.sh
chmod +x xsarm_amd64_install.sh
./xsarm_amd64_install.sh -d noetic

Before installation, it will ask 2 questions. The first answare 'y' (yes) and the second 'n' (no). The first one is about perception package, that we want, and will allow aus to use Computer Vision. The second is about MATPLOT, that we do not have.

install the Interbotix Perception packages? This will include the RealSense and AprilTag packages as dependencies.

y
Install the MATLAB-ROS API?
n
INSTALLATION SUMMARY:
ROS Distribution:           ROS 1 noetic
Install Perception Modules: true
Install MATLAB Modules:     false
Installation path:          /home/gringo/interbotix_ws


Is this correct?

y

→ end up with this Repo

→ Correct installation checks:

```
source /opt/ros/$ROS_DISTRO/setup.bash
source ~/interbotix_ws/devel/setup.bash
rospack list | grep interbotix
```

Specific packages you should confirm have been built are interbotix_xs_sdk, interbotix_xs_msgs, and interbotix_xs_modules. These serve as the fundamental core of the ROS 1 Interface and are required to use it. If these are missing, check the installation script’s output for errors.


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Raspberry Pi Installation

Procedure

  1. Format SD card of RPi

  2. Flush Ubuntu Server 20.04.5 LTS 64 bits in to the SD card of RPi

I used Raspberry Pi imager:

Chose OS → Other general Purpose OS → Ubuntu → Ubuntu Server 20.04.5 LTS 64 bits

  1. Plug in SD card into the RPi and wait for booting

  2. Run this comands:

    sudo apt update && sudo apt upgrade
sudo reboot

sudo apt install ubuntu-mate-desktop
sudo reboot

  3. At boot, the monitor should now display a login screen (instead of the terminal prompts from before). Before logging in, click the Ubuntu sign next to the username text box, and select ‘MATE’ as the desktop environment.

  1. Modify max CPU clock frequency from 1.5GHz to 2GHz

    cd /boot/firmware/
sudo nano usercfg.txt

over_voltage=6
arm_freq=2000
sudo reboot

  1. Give a user sudo privileges without requiring a password

    sudo visudo

At bottom add: pibot ALL=(ALL) NOPASSWD:ALL
  1. Fix Bluetooth issues → the Bluetooth module on the Pi 4 is by default disabled ⇒ sudo apt install pi-bluetooth
  1. INSTALL ROS & PACKAGES ON PI (Raspberry Pi 4B (ARM64 Architecture))
$sudo apt install curl
$curl 'https://raw.githubusercontent.com/Interbotix/interbotix_ros_manipulators/main/interbotix_ros_xsarms/install/rpi4/xsarm_rpi4_install.sh' > xsarm_rpi4_install.sh
$chmod +x xsarm_rpi4_install.sh
$./xsarm_rpi4_install.sh -d noetic
  1. INSTALL ROS & PACKAGES ON PERSONAL LINUX COMPUTER (Remote Install):
  • Be aware that the installation script will export the ROS_MASTER_URI environment variable in your personal computer’s ~/.bashrc file to http://.local:11311. Make sure to comment out this line when done monitoring or your personal computer will complain about not being able to find its ROS Master.
  1. Check that the Interbotix ROS packages were installed correctly. The command and example output are below:
$source /opt/ros/$ROS_DISTRO/setup.bash
$source ~/interbotix_ws/devel/setup.bash
$rospack list | grep interbotix

remember to comment out the .bashrc


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