This page will take you through installing the MIRO Developer Kit (MDK), along the way installing ROS (and Gazebo, if required).
Once you have installed everything you need, do not forget to go to the bottom of the page for configuration instructions.
The Robot Operating System (ROS) is a communications layer (amongst other things) that is popular in robotics R&D. MIRO exposes its interface as a ROS node, so you will need to install ROS on your workstation in order to communicate with the robot.
There are many web resources that will help you to install ROS (you might want to look at this, for example). This page is a quick install recipe for Ubuntu Xenial (16.04 LTS) and similar Linux distributions with ROS "kinetic". The procedure will probably be similar for other systems and versions, but watch out for minor changes that might be needed to paths or tokens (such as the token "kinetic"!).
Installation on Ubuntu 16.04 LTS
Or, roughly, enter the commands below. Note we've chosen the options
ros-kinetic-image-transport-plugins; you can instead use
base for the former, but you need the latter, regardless.
We only directly support Ubuntu 16.04 LTS; the commands above are for this Linux distribution and version.
However, related Linux flavours ought to work fine, with a little tweak here and there—for example, if installing to Linux Mint 18, change the token
$(lsb_release -sc) to the simpler token
xenial, to give the following list of commands (i.e. install as if for Ubuntu Xenial).
bionic(i.e. install as if for Ubuntu Bionic).
You should now be able to run the ROS core as follows.
Leave it running
On your workstation, unzip the MDK (MIRO Developer Kit) to a directory of your choice. This directory will be denoted
~/mdk throughout the documentation.
~/lib/mdk-170616-lite, and then make a symlink to this directory from
~/mdk; this will avoid version control problems if you update your MDK at a later date, and make it possible to copy-and-paste code direct from the documentation into your terminal.
You should now be able to run any of the tools in the MDK by changing into the
bin folder for your machine's system. For example, here we test the
miro_maint tool on a 64-bit Debian system.
On your workstation, install the robot simulator Gazebo only if you plan to work with a simulated MIRO robot. If you plan to work with physical MIRO, you do not need the simulator.
There are many web resources that will help you to install Gazebo. This page is a quick install recipe for Linux Ubuntu 16.04 (Xenial) using ROS "kinetic" and Gazebo 7. The procedure will probably be similar for other systems and versions, but watch out for minor changes that might be needed to path names.
Installation on Ubuntu 16.04 LTS
To install Gazebo, enter the commands below. Do not install
gazebo7 package, because this is not updated regularly. Instead, install
ros-kinetic-gazebo-dev which provides the version that marries up with your ROS installation (at time of writing, Gazebo 7.14.0).
You should now be able to invoke the simulator as follows.
dmesg. See also the FAQ entry Why does Gazebo halt with errors like OgreRenderSystem?
In addition, you may need to add a couple of extra support items, depending on how your workstation is already configured. We list these here—it should be obvious if you need them.
Configure your workstation to use MIRO
Give your workstation a fixed IP
If you are using a physical robot or robots, and you plan to run the ROS core on your workstation, they must be able to find it. For that, they will need its IP address. To this end, you should now equip your workstation with a fixed IP address. We will use
192.168.1.100 as a stand-in, below, you should change this to whatever you have used.
ROS_IPto be set automatically, in the configuration snippets below.
Configure your environment
Add the following lines to the file
~/.bashrc, as preferred, on your workstation (we use
~/.bashrc). You can usually just add them at the end of the file.
Log out and back in (
~/.profile) or just restart bash (
~/.bashrc) to cause the above to take effect.
~/mdk, use the appropriate path, above.
Configure your environment (R180509 and earlier)
On earlier MDK editions, the configuration instructions are as follows (though, we recommend you upgrade).