EnvSetup.md

Setting Up the C++ Build Environment

This has been tested in wsl2 Ubuntu 20.04 and base Ubuntu 20.04.

1. Update your packages.

   sudo apt update
   sudo apt upgrade
   sudo apt-get install software-properties-common
   

2. Install ROS. http://wiki.ros.org/ROS/Installation/TwoLineInstall/

   wget -c https://raw.githubusercontent.com/qboticslabs/ros_install_noetic/master/ros_install_noetic.sh && chmod +x ./ros_install_noetic.sh && ./ros_install_noetic.sh
   

   When prompted, choose option 2.

3. Install the following prereqs.

   sudo apt -y install \
       curl \
       git \
       zsh \
       autojump \
       python3-catkin-tools \
       clang-format \
       libpopt-dev \
       libglfw3 \
       libglfw3-dev
   

4. Setup clang tools.

   git clone https://github.com/Huoleit/cmake_clang_tools.git /tmp/clang_tool
   cd /tmp/clang_tool && mkdir build && cd build
   sudo cmake .. && make 
   sudo make install
   

5. Follow this link and check the driver version: https://www.peak-system.com/quick/PCAN-Linux-Driver

   e.g. peak-linux-driver-8.15.2.tar.gz

   And follow this link and check the API version: https://www.peak-system.com/quick/BasicLinux

   e.g. PCAN-Basic_Linux-4.6.2.tar.gz

   Record the version numbers.

   export PCAN_DRIVER_VERSION=8.15.2
   export PCAN_BASIC_API_VERSION=4.6.2
   export PCAN_BASIC_API_VERSION_ID=.36
   

6. Install the PCAN drivers and API.

   curl https://www.peak-system.com/fileadmin/media/linux/files/peak-linux-driver-${PCAN_DRIVER_VERSION}.tar.gz | tar -xz  -C /tmp/
   
   curl https://www.peak-system.com/produktcd/Develop/PC%20interfaces/Linux/PCAN-Basic_API_for_Linux/PCAN-Basic_Linux-${PCAN_BASIC_API_VERSION}.tar.gz | tar -xz  -C /tmp/
   
   export PCAN_DRIVER_DIR=/tmp/peak-linux-driver-${PCAN_DRIVER_VERSION}
   export ENV PCAN_BASIC_API_DIR=/tmp/PCAN-Basic_Linux-${PCAN_BASIC_API_VERSION}${PCAN_BASIC_API_VERSION_ID}
   
   cd /tmp/peak-linux-driver-8.15.2 && sudo make -C lib && sudo make -C lib install && sudo make -C test && sudo make -C test install
   
   sudo cp $PCAN_DRIVER_DIR/driver/pcan.h $PCAN_DRIVER_DIR/driver/pcanfd.h /usr/include/
   sudo chmod 644 /usr/include/pcan.h /usr/include/pcanfd.h
   
   sudo cp $PCAN_DRIVER_DIR/driver/lspcan /usr/local/bin/
   sudo chmod 755 /usr/local/bin/lspcan
   
   cd ${PCAN_BASIC_API_DIR}/libpcanbasic/pcanbasic && sudo make && sudo make install
   

7. Install MuJoCo.

   cd ~ && git clone https://github.com/deepmind/mujoco.git \
       && cd ~/mujoco && mkdir build_dir && cd build_dir \
       && sudo cmake .. -DCMAKE_INSTALL_PREFIX=/opt/mujoco \
       && sudo cmake --build . && sudo make install
   

8. Install MRAA.

   sudo add-apt-repository ppa:up-division/mraa \
       && sudo apt-get update \
       && sudo apt-get install mraa-tools mraa-examples libmraa2 libmraa-dev libupm-dev libupm2 upm-examples
   

9. Set up the RosDockerWorkspace and RExHopper repositories.

   cd ~
   git clone https://github.com/RoboticExplorationLab/RosDockerWorkspace.git
   cd RosDockerWorkspace/src
   git checkout feature/bridge
   git clone https://github.com/RoboticExplorationLab/RExHopper.git
   cd RExHopper
   git checkout devel
   cd ..
   cd ..
   

10. cp -r .devcontainer/scripts/ /tmp/scripts/
    chown -R $USER:$USER /tmp/scripts
    chsh
    

    When prompted, enter:

    /bin/zsh
    

11. Run the postCreate script and switch to zsh.

    sh /tmp/scripts/postCreate.sh
    zsh
    

12. If using wsl2, make sure the display variable is correct. If not using wsl2, skip this step.

    export DISPLAY=:0  # if using wsl2 ONLY
    

13. Test. This should work now.

    catkin clean
    catkin build
    wssetup
    rosrun hopper_mpc hopper_mpc mujoco start_stand stand 5000 --plot