实验室新进了一台KUKA-youbot,包括一个万向移动平台和一个五自由度的机械臂,之后会陆续地做一些开发工作。首先是一些准备工作。
一、在KUKA-youboy的板载PC(Ubuntu12.04系统)上安装无线网卡驱动
打开终端,输入以下命令:(需下载安装包DPO_MT7601U_LinuxSTA_3.0.0.4_20130913.tar.bz2)
sudo apt-get install linux-headers-$(uname -r)
sudo apt-get install --reinstall linux-headers-generic build-essential
tar xjf DPO_MT7601U_LinuxSTA_3.0.0.4_20130913.tar.bz2
cd DPO_MT7601U_LinuxSTA_3.0.0.4_20130913/
make
sudo mkdir -p /etc/Wireless/RT2870STA/
sudo cp RT2870STA.dat /etc/Wireless/RT2870STA/RT2870STA.dat
sudo /sbin/insmod os/linux/mt7601Usta.ko
sudo make install
安装完成后可检测到无线wifi信号,但报错:
System policy prevents modification of network settings for all users。
解决方案:
首先执行:
sudo passwd
(以上为了重设密码, 重设的是root密码,不是用户密码,ubuntu系统初始时是没有固定root密码的,要人为设定)
之后进行以下操作:
1. su to root
su -
2. Type the following:
nano /usr/share/polkit-1/actions/org.freedesktop.NetworkManager.policy
3. Towards the end of the file, find the section labeled:
<action id="org.freedesktop.NetworkManager.settings.modify.system">
At the the bottom of the Section, locate the following line of code:
<allow_active>auth_admin_keep</allow_active>
Change this line to read as follows:
<allow_active>yes</allow_active>
4. Save the file using:
^X (按住Ctrl键)
5. Answer "Save modified buffer (ANSWERING "No" WILL DESTROY
CHANGES) ?" by Typing:
Y
6. Hit Enter when prompted with:
File Name to Write: /usr/share/polkit
1/actions/org.freedesktop.NetworkManager.policy
8. Restart.
搞定!
二、远程控制(一个desktop,一个robot)
用另一台安装了ubuntu系统的电脑实现对KUKA-youbot的远程无线控制。具体内容参考了《ros_by_example_2_hydro___volume_1》这本书:
- 使两台电脑均接入相同的局域网
- To install chrony, run the command: (在两台电脑上均安装)
sudo apt-get install chrony - 更改两台机器的hostname:
hostname my_robot.local
hostname my_desktop.local - 尝试互相ping对方:
ping my_robot.local - 可分别加入~/.bashrc中
(1)在robot上:
export ROS_HOSTNAME=my_robot.local
roscore
(2)在desktop上:
export ROS_HOSTNAME=my_desktop.local
export ROS_MASTER_URI=http://my_robot.local:11311 - 使desktop与robot同步,run ntpdate:
sudo ntpdate –b my_robot.local
注:由desktop采用ssh登录robot.
sudo ssh my_robot.local
输入desktop密码
输入robot密码
切换到root@ubuntu$:(kuka-youbot)