Installation of the Unige

Prerequisites

Install Hydro and CloPeMa packages as described here.

Install the real-time abstraction layer used:

$ git clone https://github.com/ShabbyX/URT.git
$ cd URT; git checkout d3cd6e58
$ cp Makefile.config.template Makefile.config
$ make
$ sudo make install

For the curious, the URT build system is under change and that's why you are using an older commit. After Debian packaging is done, you would be able to install it with apt-get.

Install Unige repository

The repository is mirrored on CVUT's server and can be cloned with:

$ git clone git@clopema.felk.cvut.cz:clopema_unige.git

In the root folder of your workspace, run:

$ catkin_make -DBUILD_GRIPPER_SERVER=ON
$ catkin_make install

To receive updates on the packages, do:

$ git pull origin master

The master branch of the repository (and equivalently the hydro-devel branch) would fully build the driver and ROS modules, i.e. it requires a Peak CAN card and its driver installed. Otherwise, to build the minimal ROS modules to act as a remote node, communicating with the server, do the catkin_make without -DBUILD_GRIPPER_SERVER=ON.

The Linux driver for the PCAN card can be found here and the driver should be built with NET=NO_NETDEV_SUPPORT option to make.

You may need to install libpopt-dev for the pcan library to build:

$ sudo apt-get install libpopt-dev

To use the driver (on each boot), you need to do:

$ sudo modprobe pcan bitrate=0x14