Installation

Prerequisites

OpenMETA Model Exploration and Artifact Generation Machine:

  • Windows
  • Git
  • Java
  • CREO Parametric 3.0 (required for CAD-to-URDF workflows)

ROS Deployment and(or) Gazebo Simulation Machine:

OpenMETA

On Windows machine:

  1. Download the latest version of OpenMETA from https://www.metamorphsoftware.com/openmeta/.
  2. Open the installer.
  3. Agree to the license terms and conditions.
  4. Left-click Install.
  5. Note: If this is your first time using OpenMETA, we recommend that you complete the PET Tutorial 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:
git clone https://github.com/metamorph-inc/tasck-core-models
  1. Clone the openmeta-ros-core-workflows repository into tasck:
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
"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
ssh-keygen
  1. Copy SSH Public Key to Linux machine
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.

  1. Create/edit config file in user’s .ssh directory (e.g. C:\Users\metamorph\.ssh\config)

    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:

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

Install ROS Kinetic/Gazebo 7.0:

  1. Configure Ubuntu repositories to allow “restricted,” “universe,” and “multiverse” following the Ubuntu guide.
  2. Setup computer to accept software from package.ros.org:
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
  1. Setup your keys:
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

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

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

  3. Initialize rosdep:

sudo rosdep init
rosdep update
  1. Setup environment:
echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
source ~/.bashrc

Building ROS Workspace

On Ubuntu 16.04.3 LTS machine:

  1. sudo apt-get install python-wstool -y

  2. mkdir -p ~/tasck/catkin_ws

  3. 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. cd ~/tasck/catkin_ws

  5. wstool init src ~/tasck/tasck_core_models.rosinstall

  6. wstool update -t src

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

  8. 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
python -m pip install --extra-index-url https://pypi.metamorphsoftware.com/ testbenchexecutor

Note

You may need to use sudo.