Install, Configure, Uninstall

Install

Supported Operating System: Ubuntu 16.04

Supported Simulation Environment: Gazebo 8

Since XBotControl comes with built-in ROS support, you should first install and configure ROS kinetic as described here http://wiki.ros.org/kinetic/Installation/Ubuntu

In particular do not forget the configuration step:

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

Download the release version you want to install from https://github.com/ADVRHumanoids/XBotControl/releases

For example, if I want to install XBotControl X.Y.Z you will do the following:

wget https://github.com/ADVRHumanoids/XBotControl/releases/download/vX.Y.Z/XBotControl_X.Y-Z.deb
sudo apt-get install gdebi # utility that lets you install local deb packages resolving and installing its dependencies.
sudo gdebi XBotControl_X.Y-Z.deb

Configure

First of all source the XBot setup.bash

. /opt/xbot/build/install/share/xbot/setup.bash

You can check that the sourcing has effect in your bash terminal by echoing the $XBOT_ROOT env variable.

echo $XBOT_ROOT

The answer should be:

/opt/xbot/build/install/share/xbot

You can also choose to put the source command in your .bashrc:

echo ". /opt/xbot/build/install/share/xbot/setup.bash" >> ~/.bashrc
. ~/.bashrc

Later on you can set YOUR_CONFIG_YAML (e.g. /home/embedded/configs/my_robot.yaml): this is going to be used in the following XBotCore executions.

set_xbot_config YOUR_CONFIG_YAML

Uninstall

sudo dpkg -P xbotcontrol