Install rapyuta Robot Cloud Engine

Posted 2020-10-04 进之以猛 持之以恒

Prepare on ubuntu12.04
sudo apt-get install vim

Install fuerte ROS
sudo sh -c ‘echo "deb http://packages.ros.org/ros/ubuntu precise main" > /etc/apt/sources.list.d/ros-latest.list‘
wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
sudo apt-get update
sudo apt-get install ros-fuerte-ros-comm

echo "source /opt/ros/fuerte/setup.bash" >> ~/.bashrc
. ~/.bashrc
source /opt/ros/fuerte/setup.bash

sudo apt-get install python-rosinstall python-rosdep

Install rapyuta
sudo apt-get install python-setuptools python-dev git-core
sudo git clone -b master https://github.com/rapyuta/rce.git rce
cd rce
sudo ./install.sh
sudo ./setup/provision all

sudo apt-get install python-pip
sudo pip uninstall twisted==17.5.0
sudo pip install twisted==13.1.0

Test if success
sudo vim ~/.rce/config.ini
[machine/packages]
Test=/home/rapyuta/rce/test

sudo rce-make
rosmake Test
exit

export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:/home/rapyuta/rce/test
echo ‘export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:/home/rapyuta/rce/test‘ >> ~/.bashrc
. ~/.bashrc

 

Test Installation

1. Start rce-master in one terminal.

rce-master
(The main process of the cloud engine)

2. Start rce-robot in another terminal.

rce-robot localhost
(This process manages connections with a robot or ROS environment)

3. Start rce-container in another terminal.

sudo rce-container localhost
(This process manages the containers)

4. Run roscore in another terminal.

roscore
5. Run ros client with test config file in another terminal.

rce-ros {PATH TO RCE LOCAL REPOSITORY}/test/debug.cfg
6. List ROSService Calls.

rosservice list
(You should see /parameterTest and /stringEchoService)

7. Test ROSService Calls.

rosservice call /stringEchoService somestring
(You should see somestring echoed back)