.. _installation:

Installation
============

Prerequisites
-------------

OpenMETA Model Exploration and Artifact Generation Machine:

* Windows
* Git
* `Java <https://java.com/en/download//>`_
* CREO Parametric 3.0 (required for CAD-to-URDF workflows)

ROS Deployment and(or) Gazebo Simulation Machine:

* Ubuntu 16.04.3 LTS
* `NVIDIA Graphics Chipset <http://releases.ubuntu.com/16.04//>`_

OpenMETA
--------

*On Windows machine:*

#. Download the latest version of OpenMETA from https://www.metamorphsoftware.com/openmeta/.
#. Open the installer.
#. Agree to the license terms and conditions.
#. Left-click :guilabel:`Install`.
#. Note: If this is your first time using OpenMETA, we recommend that you complete the `PET Tutorial <http://docs.metamorphsoftware.com/doc/tutorials/pet_tutorial/pet_tutorial.html/>`_ to develop a basic understanding of the tools!

TASCK Models and Workflows
--------------------------

*On Windows machine:*

1. Create a directory named ``tasck``.

2. Clone the ``tasck-core-models`` repository into ``tasck``:

  .. code-block:: bash

     git clone https://github.com/metamorph-inc/tasck-core-models


2. Clone the ``openmeta-ros-core-workflows`` repository into ``tasck``:

  .. code-block:: bash

     git clone https://github.com/metamorph-inc/openmeta-ros-core-workflows

PyYAML Dependency
-----------------

1. Open Window Command Prompt in Administrator Mode

2. Install ``pyyaml`` dependecy

  .. code-block:: bash

     "C:\Program Files (x86)\META\bin\Python27\Scripts\python.exe" -m pip install pyyaml

SSH
---

*On Windows machine:*

Many TASCK workflows require a transfer of files and commands between the Windows (OpenMETA) and Linux (ROS & Gazebo) machines via SSH.

1. Generate a SSH key named ``gazebo_ros_machine``

 .. code-block:: bash

    ssh-keygen

2. Copy SSH Public Key to Linux machine

 .. code-block:: bash

    scp ~/.ssh/gazebo_ros_machine.pub [LINUX_USER]@[LINUX_IP/LINUX_HOSTNAME]:~/.ssh/authorized_keys

.. note:: Alternatively, you can manually append the contents of ``gazebo_ros_machine.pub`` to the ``authorized_keys`` file on the Linux machine.

3. Create/edit config file in user's .ssh directory (e.g. ``C:\Users\metamorph\.ssh\config``)
   
   .. code-block:: bash

      Host openmeta-gazebo-ros-machine
          HostName 192.168.1.133
          User metamorph
          IdentityFile "C:/Users/metamorph/.ssh/gazebo_ros_machine"
          StrictHostKeyChecking no

ROS and Gazebo
--------------

*On Ubuntu 16.04.3 LTS machine:*

Install Updates:

.. code-block:: bash

   sudo apt-get update
   sudo apt-get install
   sudo apt-get dist-upgrade

`Install ROS Kinetic/Gazebo 7.0 <http://wiki.ros.org/kinetic/Installation/Ubuntu/>`_:

1. Configure Ubuntu repositories to allow "restricted," "universe," and "multiverse" following the `Ubuntu guide <https://help.ubuntu.com/community/Repositories/Ubuntu/>`_.
2. Setup computer to accept software from package.ros.org:

  .. code-block:: bash

     sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

3. Setup your keys:

  .. code-block:: bash

     sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

4.

  .. code-block:: bash

     sudo apt-get update --include-eol-distros

5.

  .. code-block:: bash

     sudo apt-get install ros-kinetic-desktop-full -y

6. Initialize rosdep:

 .. code-block:: bash

    sudo rosdep init
    rosdep update

7. Setup environment:

 .. code-block:: bash

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

Building ROS Workspace
++++++++++++++++++++++

*On Ubuntu 16.04.3 LTS machine:*

1. 
 .. code-block:: bash

    sudo apt-get install python-wstool -y

2.
 .. code-block:: bash

    mkdir -p ~/tasck/catkin_ws

3.

 .. code-block:: bash

    wget --header="Authorization: token <OAUTH-TOKEN>" -O ~/tasck/tasck_core_models.rosinstall https://raw.githubusercontent.com/metamorph-inc/tasck-core-models/master/tasck_core_models.rosinstall

 .. note:: 
    You must have GitHub access to the tasck-core-models repository. To use the wget command above, you also need a GitHub personal access token. See https://docs.github.com/en/authentication/keeping-your-account-and-data-secure/creating-a-personal-access-token

4.
 .. code-block:: bash

    cd ~/tasck/catkin_ws

5.
 .. code-block:: bash

    wstool init src ~/tasck/tasck_core_models.rosinstall

6.
 .. code-block:: bash

    wstool update -t src

7.
 .. code-block:: bash

    rosdep install --from-paths src --ignore-src -r -y

8.
 .. code-block:: bash

    catkin_make

Test Bench Executor
-------------------

*On Ubuntu 16.04.3 LTS machine:*

Some TASCK workflows require the OpenMETA testbenchexecutor to be installed on the Linux machine.

1. Install testbenchexecutor to Linux machine

 .. code-block:: bash

    python -m pip install --extra-index-url https://pypi.metamorphsoftware.com/ testbenchexecutor

.. note:: You may need to use ``sudo.``