So yesterday I wanted to post my notes from around October on how to install ROS Melodic on a Slackware 64bit system – yes, I’m boring, but honestly I like compiling ROS. It’s like an unhealthy, nerve-wrecking, time-consuming addiction that makes you smile in the end just for this one minute and it’s all worth it. Kinda like golf.
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This is one of the older things I did, but did not have enough time to make it into a post. So: the aim is to get a working stream of data from OptiTrack system into ROS Kinetic. A small catch: get individual points as well as rigid bodies.
assume that 192.168.0.100 is the server and 192.168.0.153 is the client with Matlab
console on the server:
export ROS_IP=192.168.0.100
export ROS_MASTER_URI=http://192.168.0.100:11311
roscore
(and same with rosrun turtlesim turtlesim_node on another console)
matlab:
setenv(‘ROS_MASTER_URI’,’http://192.168.0.100:11311′)
setenv(‘ROS_IP’,’192.168.0.153′)
rosinit
robotctrl = rospublisher( ‘/turtle1/cmd_vel’ )
robotpose = rossubscriber( ‘/turtle1/pose’ )
twist = rosmessage(robotctrl.MessageType)
twist.Linear.X = 1
send(robotctrl,twist)
pause(0.1)
state = receive( robotpose, 1 )
Today I encountered a strangest error of them all. A missing library that exists.
A library that noone calls. Noone requires. Noone depends on it. Noone mentions in their src.
Yet when you remove it, the program breaks. How, on the deepest ponds of hell I ask, how?!
Cherry on the top: it is missing even when it exists. That’s kinda new.
Since as of today nobody has packaged the ROS into Slackware packages, time to do it! And invent new curse-words that shall be timeless as the invention of flugelhorn itself.
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All hail the mighty Matlab! … when it works
Ok, YARP and iCub-main are up and working, time for the jewel in the crown of every applied math-robotisct… robosicis… robotics mathematician: Matlab
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Time for iCub! … shit. According to the icub manual:
CREATE_OPTIONAL_CARRIERS, set to ON ENABLE_yarpcar_bayer_carrier, set to ON
ok, back to yarp/build/
make uninstall cd .. && mkdir build2 && cd build2 cmake -DCREATE_GUIS=on -DCREATE_LIB_MATH=on -DCREATE_OPTIONAL_CARRIERS=on -DENABLE_yarpcar_bayer_carrier=on ../ make -j4 make install
Done, what now? Clone the repo, cmake:
cmake -DCMAKE_BUILD_TYPE=Release -DENABLE_icubmod_cartesiancontrollerclient=on -DENABLE_icubmod_cartesiancontrollerserver=on -DENABLE_icubmod_gazecontrollerclient=on ../
make -j4, make install and go through the tutorial to get it working! yarpserver in the background somewhere (until the end, it’s not gonna hang despite me great efforts) and … Oh… shit…
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And now it’s time for YARP!
First fetch ACE from the official website and read the ACE_INSTALL.html inside the .tar.gz. Oh, it’s a lengthy and not-so-easy one. Step by step:
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And this will actually result in:
Not bad? So, let us go:
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Ok, what I am showing here is VERY experimental and is a sketch of how I got to the point of a working ROS on a Slackware … 14.2, because of cmake mainly.
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