Installation instructions

This chapter describes how to install the knowledge base server and the reasoning system to start teaching and performing tasks in collaboration with your robot.

Note

Because for this project we use the Panda arm from Franka Emika we use ubuntu 16.04 together with ROS kinetic. The following instructions might therefore only work in this environment.

Installing the knowledge base server

The knowledge base server has been developed with Flask. To get it properly running on your local machine please follow the instruction from the Flask documentation.

Once Flask is installed clone the robot-semweb repository from GitHub inside your environment:

git clone https://github.com/Zorrander/robot-semweb

Installing the reasoning system

After setting up ROS Kinetic, create a Catkin workspace in a directory of your choice:

cd /path/to/desired/folder
mkdir -p catkin_ws/src
cd catkin_ws
source /opt/ros/kinetic/setup.sh
catkin_init_workspace src

Then clone the cogrob-tut-hri repository from GitHub:

git clone https://github.com/Zorrander/cogrob-tut-hri

Build the packages:

catkin_make
source devel/setup.sh