PhaseSpace

Welcome to the Guide for Phasespace Motion Capture System.

Ubuntu System

The following instructions has been tested on Ubuntu 14.04 only.

• You can get the 64 bits system here.
• To create a bootable USB, please refer to information here.
• You are recommended to partition the harddrive with the Disks that comes with Ubuntu. Otherwise, you might see this during installation:

  The partition * assigned to / starts at an offset of * bytes from the minimum alignment for this disk, which may lead to very poor performance.

Ubuntu doesn’t automatically use the nvidia driver. You can search for Additional Drivers to use them. You might need to setup the correct ppa

sudo add-apt-repository ppa:xorg-edgers/ppa -y
sudo apt-get update

ROS

The version indigo is used for Kuka. Basically, you just need to follow these instructions, or the following instructions copied below for your convenience.

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

sudo apt-get update && sudo apt-get install dpkg
sudo apt-get install ros-indigo-desktop-full

sudo rosdep init
rosdep update

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

sudo apt install python-rosinstall python-rosinstall-generator python-wstool build-essential

You are also recommended to get the catkin tools, the official installation guide is here:

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-latest.list'
wget http://packages.ros.org/ros.key -O - | sudo apt-key add -

sudo apt-get update
sudo apt-get install python-catkin-tools

Turn on the Phasespace system

To turn it on, just need to locate the server computer. The picture below shows the location:

Press the on/off button to turn it on:

Phasespace Software

There is no need to install drivers on your machine, as it was already isntalled on the phasespace server.

On the kuka machine, just go to recap directory in the home direction, and then double-click the recap executable file to run it.

For more information, please visit https://github.com/ScazLab/phasespace_publisher.git

To install it on your machine, just copy the recap folder to your computer.

Phasespace ROS

To get a clean copy, rather than the one with Baxter, just clone the kuka branch to your ros directory and than make it:

git clone -b kuka https://github.com/ScazLab/phasespace_publisher.git
cd ..
catkin build

Then just following the github to learn how to use it.

Collaboration

• Please edit this file to add things you think are going to be useful. You can edit it by modifying this file