View source for UPMC iCub project/XDE-simulator-dev

If you want to develop robot controllers in XDE, you may need to prepare your machine by installing two further components: XDE-core, which is a set of development files of XDE used for developers, and ORC.
XDE-core is, as XDE, not open-source.

* For any problems with the installation ask [http://chronos.isir.upmc.fr/~ivaldi/contact.htm Serena Ivaldi], [http://www.josini.com/ Joseph Salini], [http://www.isir.upmc.fr/?op=view_profil&id=262 Sovannara Hak].
* For any problems with running it ask [http://www.isir.upmc.fr/?op=view_profil&id=262 Sovannara Hak].
* For the license ask [http://www.isir.upmc.fr/?op=view_profil&id=89 Vincent Padois].

Once you have XDE-core and ORC, you can install the modules developed in ISIR for developing controllers in XDE. In this case the code can be downloaded on github.

== Preparation ==

=== Linux ===
We hereby assume you have Ubuntu 12.04. 

'''Dependencies''':
* '''System dependencies'''
The basics for XDE-core
<code>
sudo apt-get install libeigen3-dev g++ python-dev cmake git
</code>
These are necessary for XDE-ISIR modules
<code>
sudo apt-get install swig python-matplotlib
</code>

* '''XDE''': [[UPMC iCub project/XDE-simulator|installation]]
* '''ORC''': [[UPMC iCub project/Installing ORC|installation]]

* '''XDE-core'''
To retrieve the last developers packages, ask [http://www.isir.upmc.fr/?op=view_profil&id=262 Sovannara Hak].

* '''XDE-ISIRController''' (C++ version)
To retrieve the latest ISIR Controller for XDE based on C++ ask Joseph Salini.

* '''XDE-ISIR modules'''
You will need to retrieve some modules from the github repository https://github.com/xde-isir
Create a folder, for example xde-isir, where you can put all he modules. Each will be compiled separately.
   cd /home/icub/software/src/xde-isir
   git clone https://github.com/XDE-ISIR/XDE-Observers.git
   git clone https://github.com/XDE-ISIR/XDE-DocPythonAPI.git
   git clone https://github.com/XDE-ISIR/demo-spacemouse.git
   git clone https://github.com/XDE-ISIR/XDE-ZMPy.git
   git clone https://github.com/XDE-ISIR/RTEKukaFRIClient.git
   git clone https://github.com/XDE-ISIR/orocos_toolchain_xde.git
   git clone https://github.com/XDE-ISIR/XDE-Resources.git
   git clone https://github.com/XDE-ISIR/XDE-ISIRController.git 
   git clone https://github.com/XDE-ISIR/XDE-RobotLoader.git
   git clone https://github.com/XDE-ISIR/XDE-WorldManager.git
   git clone https://github.com/XDE-ISIR/XDE-Spacemouse.git
   git clone https://github.com/XDE-ISIR/XDE-ISIR.git
   git clone https://github.com/XDE-ISIR/XDE-SwigISIRController.git
   git clone https://github.com/XDE-ISIR/XDE-DocExamples.git
Note that XDE-ISIRController in this case has the same name of the one downloaded in the previous step, but it is different. The previous is in C++ and makes the controller available in C++ to XDE, whereas the one you get from git is the python version, that calls the C++ version to accelerate some parts of the simulation.

== Installation ==

=== Linux ===

* '''XDE-Core'''
Go in the folder where you have put xde-core, for example
   cd /home/icub/software/src/xde-core
and install the package:
   dpkg -i xdecore_3.99.5.0_amd64.deb
Check that LGSM library is included, this
   pkg-config --cflags eigen3
should return
   -I/usr/include/eigen3 -I/usr/include/eigen3/unsupported
If this is not the case, then you need to copy or modify the file eigen3.pc in your $PKG_CONFIG_PATH.
Install the developer package:
    sudo dpkg -i --force-all  xdecore-dev_3.99.5.0_amd64.deb
Now you have to create a file xdecore.pc and put it your $PKG_CONFIG_PATH.
In my case, $PKG_CONFIG_PATH=/home/icub/software/lib/pkgconfig.
    cd $PKG_CONFIG_PATH
    touch xdecore.pc
Copy-paste this into the file:
<code>
prefix=/usr
libdir=${prefix}/lib
includedir=${prefix}/include/xdecore

Name: xdecore
Description: XDE core library
Version: 3.99.5.0
Requires: eigen3
Libs: -L${libdir} -lXDECore
Cflags: -I${includedir}
</code>


* '''XDE-ISIRController''' (C++ version)
Go into the folder where you put XDE-ISIRController, for example
   cd /home/icub/software/src/XDE-ISIRController
Create the usual build folder, enter it and compile through cmake:
   mkdir build
   cd build
   ccmake ..
   make
   make install
This will install libXDE-ISIRModel-gnulinux.so (in my case, it is located in: /home/icub/software/lib/libXDE-ISIRModel-gnulinux.so).


* '''XDE-ISIR modules'''
Now these modules have to be compiled one by one, and in some cases in a different way.

* '''XDE-WorldManager'''
   cd xde-isir/XDE-WorldManager
   python setup.py develop
You may want to build also its documentation
   runxde.sh setup.py build_doc
which builds the html doc in xde-isir/XDE-WorldManager/build/sphinx/html

* '''XDE-RobotLoader'''
   cd xde-isir/XDE-RobotLoader
   python setup.py develop

* '''XDE-Resources'''
   cd xde-isir/XDE-Resources
   mkdir build
Before doing the standard ccmake/make chain, you must check the content of the cmake file CMakeLists.txt, in particular check the execute_process command, and verify that it is installing into dist-packages.
If not, change the code as below.
<code>
  EXECUTE_PROCESS(
  COMMAND "${PYTHON_EXECUTABLE}" "-c"
  "import sys, os; print os.sep.join(['lib', 'python' + sys.version[:3], 'dist-packages'])"
  OUTPUT_VARIABLE PYTHON_SITELIB
  OUTPUT_STRIP_TRAILING_WHITESPACE
  ERROR_QUIET)
</code>
This avoid a known issue with ipython, it is going to be fixed - so probably you won't have this issue.
Then you can finally do the ccmake/make thing: please do not change the install location in this case! I tried installing it in my usual /home/icub/software location, it doesn't work.
So stick to the usual installation path.
   cd build
   ccmake ..      // DO NOT CHANGE THE INSTALL PATH HERE!
   make
   sudo make install
You may need to check that XDE-Resources can be correctly found by python. So, in a terminal, type:
   ipython
   import xde_resources
If it works, installation is ok. If it doesn't check which python packages for xde you have installed so far
   import xde_ +TAB
If you only see 
   xde_robot_loader  xde_world_manager
It means you encountered a little bug, or you probably configured ccmake to install in a different location than the default one.
In this case you need to redo the ccmake step, and make and make install in the default location.
To verify, the install log should tell you something like:
   ...
   -- Installing: /usr/local/share/xde-resources/urdf/icub_simple.dae
   -- Installing: /usr/local/share/xde-resources/urdf/icub_simple_collision.dae
   -- Installing: /usr/local/lib/python2.7/dist-packages/xde_resources/core.py
   -- Installing: /usr/local/lib/python2.7/dist-packages/xde_resources/__init__.py
Note that the python files go to dist-packages.

* '''XDE-ZMPy'''
   cd xde-isir/XDE-ZMPy
   python setup.py build
   python setup.py install --user
The script will install things locally, in my case it is in /home/icub/.local/lib/python2.7/site-packages/xde_zmpy
Note: since 12-2013 this module has been integrated in the new XDE-ISIRcontroller, so it is not used anymore

* '''XDE-ISIRController'''
   cd xde-isir/XDE-ISIRController
   python setup.py develop
Note that to install this module, you must have installed before the C++ version (few steps before), otherwise you will get the error
   XDE-ISIRController not found by pkg-config

* '''XDE-DocExamples'''
Some documentation can be built by:
   cd xde-isir/XDE-DocExamples
   make html
which will create a browsable html documentation in build/html. In source/examples you can find some examples with scripts.

*'''XDE-SwigISIRController'''
   cd XDE-SwigISIRController
   python setup.py build
   python setup.py install --user
The script will install things locally, in my case it is in /home/icub/.local/lib/python2.7/site-packages/swig_isir_controller

== Usage ==

=== Linux ===

The general way to run scripts in XDE is
   runxde.sh my_script.py
If you [[UPMC iCub project/XDE-simulator|installed XDE correctly]], you should be able to have runxde.sh in the PATH (so you can use the autocompletion in your terminal).

[[File:Squat xde.png|framed|right|iCub squatting in XDE]]


Some scripts for using the ISIR controllers with XDE and some robots (KUKA LWR, iCub) are provided in the examples of XDE-ISIRController (the python version)
   cd xde-isir/XDE-ISIRController/examples
As a first test, try running
   runxde.sh 01_full_joint_control.py 
Or you can try iCub for simple things:
   cd xde-isir/XDE-ISIRController/examples/icub_control
   runxde.sh 02_squatting.py