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Astrobee Guest Science Program developed for Kibo Robot Programming Challenge (Preliminary Round)

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Prerequisites

  1. ROS Kinetic (Robot Operating system)
  2. Android Studio
  3. Astrobee robot software
  4. Gazebo 7
  5. CMake (v3.5.1 is used by the original developer)
  6. Read and follow the Manual

Default path

Put these lines in .bashrc file for convenience

export AVD="AstrobeeAndroidSim"
export EMULATOR=$HOME/Android/Sdk/tools/emulator
export SOURCE_PATH=$HOME/freeflyer
export ANDROID_PATH="${SOURCE_PATH}_android"
export BUILD_PATH=$HOME/freeflyer_build/native
export INSTALL_PATH=$HOME/freeflyer_install/native
pushd $BUILD_PATH
source devel/setup.bash
popd

Running Simulation

Running Android Emulator (Terminal 1)

cd $ANDROID_PATH/scripts
./launch_emulator.sh -n

Running Gazebo Simulation (Terminal 2)

export ROS_IP=$(getent hosts llp | awk '{ print $1 }')
export ROS_MASTER_URI=http://${ROS_IP}:11311
roslaunch astrobee sim.launch dds:=false robot:=sim_pub sviz:=true

Running GSM APK and GS APK (Terminal 3) - GSM firstly need to be built

export ROS_IP=$(getent hosts llp | awk '{ print $1 }')
export ROS_MASTER_URI=http://${ROS_IP}:11311
$ANDROID_PATH/scripts/gs_manager.sh start
cd $SOURCE_PATH/tools/gds_helper/
python gds_simulator.py

Another Bash commands

Building APK on Linux:

ANDROID_HOME=$HOME/Android/Sdk ./gradlew assembleDebug 

Installing apk

adb install -g -r app/build/outputs/apk/app-debug.apk

Dependencies for building Astrobee

Dependencies listed below: glog, JSON-C, argtable2, libv4l

sudo apt-get install libgoogle-glog-dev
sudo apt-get install libjson0 libjson0-dev
sudo apt-get install libargtable2-dev
sudo apt-get install libv4l-dev
#fix gazebo 7 missing package
sudo apt-get install libignition-math2-dev

Source Installation

  1. Luajit
  2. Protobuf (v2.6.1 checkout required)
  3. Mavlink. Shortcut: MavROS
  4. Gazebo 7

Important pages

Kibo-RPC Download page

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Astrobee Guest Science Program developed for Kibo Robot Programming Challenge (Preliminary Round)

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