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Disclaimer: This wiki page is a work in progress and used for internal testing.

Overview

This repository provides the installation setup for Team ViGIR software. As Team ViGIR software is comprised of many different components for different aspects of humanoid disaster response (perception, planning, behavior control etc.) and can be used with different robot systems, there are multiple options for installation, providing different combinations of

• Robots
• Simulators
• Software Components

We try to make installation painless, while at the same time providing flexibility.

Prerequisites

• Operating System: The supported platform for installation is Ubuntu 14.04/64 Bit.
• ROS Version: ROS Indigo
• Install ROS as described in the ROS Indigo installation instructions
• Simulator: drcsim
• Install as described in the drcsim installation instructions

Common Installation

• Make sure you do not have a ROS workspace setup sourced in your terminal (e.g., .bashrc). Otherwise you might accidentally create a an overlay in the following steps. This could have unintended side-effects.
• Open a terminal ,create a folder for the workspace (for instance in below your home folder) and enter the folder

mkdir vigir_repo
cd vigir_repo

• Clone the install repository

git clone https://github.com/team-vigir/vigir_install.git .

• Run the install script.

./install.sh

• Source the workspace setup as described in the terminal and run a

vigir make

Install Options

As mentioned previously, our software can be used with different robots and simulation environments. We therefore provide instructions for installing different setups below:

• Install basic onboard software
• Install just onboard software with no robot specific packages
• Install onboard software with Atlas specific packages
• Install using Atlas with IHMC controller and simulation support
• Install full ViGIR setup with Thor-MANG robot using gazebo simulation
• Install full ViGIR setup with Atlas proprietary software using drcsim simulation