jsk_apc

Forum (baxter, apc)

jsk_apc is a stack of ROS packages for Amazon Picking Challenge mainly developed by JSK lab.
The documentation is available at here.

Usage

APC/ARC Competitions

Research papers

Installation

Required

1. Install the ROS. Instructions for ROS indigo on Ubuntu 14.04.
2. Setup your ROS environment.
3. Build catkin workspace for jsk_apc:

$ mkdir -p ~/ros/ws_jsk_apc/src && cd ~/ros/ws_jsk_apc/src
$ wstool init . https://raw.githubusercontent.com/start-jsk/jsk_apc/master/fc.rosinstall.${ROS_DISTRO}
$ cd ..
$ rosdep install -y -r --from-paths .
$ sudo apt-get install python-catkin-tools ros-indigo-jsk-tools
$ catkin build
$ source devel/setup.bash

Edit /etc/hosts:

133.11.216.224 baxter 011310P0014.local

Add below in your ~/.bashrc:

$ rossetmaster baxter
$ rossetip

$ # we recommend below setup (see http://jsk-docs.readthedocs.org/en/latest/jsk_common/doc/jsk_tools/cltools/setup_env_for_ros.html)
$ echo """
rossetip
rosdefault
""" >> ~/.bashrc
$ rossetdefault baxter  # set ROS_MASTER_URI as http://baxter:11311

Optional

Setup Arduino and DXHUB

1. To distinguish left DXHUB from right one, follow the instruction here.

2. Create udev rules:

$ rosrun jsk_arc2017_baxter create_udev_rules

so that Arduinos can appear on /dev/arduino* and DXHUBs can appear on /dev/l_dxhub and /dev/r_dxhub

Setup scales

Create udev rules:

$ rosrun jsk_arc2017_common create_udev_rules

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