Quickstart
==========

This guide will help you to setup your programming environment to start using the xbot2 framework.


System Setup
============
The xbot2 framework is written in C++17 and depends on a few external packages.
Note that xbot2 is released free of charge, and it is not open source: as a standard user you are expected to install the framework using our apt server as follow.

System Requirements
-------------------
Currently the xbot2 framework  support the following operating systems:

- Linux Ubuntu 18.04 LTS 
- Linux Ubuntu 20.04 LTS 

Moreover it supports the Xenomai3 Real-Time (RT) co-kernel system.

Dependencies
------------

Install the ROS base version of the target OS you choose.

First of all set up the source.list and your keys:

.. 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'

   sudo apt install curl 
   curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

Then continue based on the OS you are working on for the right ROS and Gazebo version (including the sourcing in the .bashrc):

- on Ubuntu 18.04 LTS (Bionic): 

.. code-block:: bash

   sudo apt update && sudo apt install -y \
   ros-melodic-ros-base \
   libgazebo9-dev

   echo ". /opt/ros/melodic/setup.bash" >> ~/.bashrc
   . ~/.bashrc


- on Ubuntu 20.04 LTS (Focal):

.. code-block:: bash

   sudo apt update && sudo apt install -y \
   ros-noetic-ros-base \
   libgazebo11-dev

   echo ". /opt/ros/noetic/setup.bash" >> ~/.bashrc

You can now install some extra ROS and QT packages needed for xbot2:

.. code-block:: bash

   source $HOME/.bashrc
   sudo apt install -y \
   ros-$ROS_DISTRO-urdf ros-$ROS_DISTRO-kdl-parser \
   ros-$ROS_DISTRO-eigen-conversions ros-$ROS_DISTRO-robot-state-publisher ros-$ROS_DISTRO-moveit-core \
   ros-$ROS_DISTRO-rviz ros-$ROS_DISTRO-interactive-markers ros-$ROS_DISTRO-tf-conversions ros-$ROS_DISTRO-tf2-eigen \
   qttools5-dev libqt5charts5-dev qtdeclarative5-dev



Install the xbot2 framework
---------------------------

This installation is meant for a non-RT capable machine (e.g. your laptop).

.. code-block:: bash

   sudo sh -c 'echo "deb http://xbot.cloud/xbot2/ubuntu/$(lsb_release -sc) /" > /etc/apt/sources.list.d/xbot-latest.list'
   wget -q -O - http://xbot.cloud/xbot2/ubuntu/KEY.gpg | sudo apt-key add -  
   sudo apt update
   sudo apt install xbot2_desktop_full

The installed libraries/binaries are made visible by sourcing the provided `/opt/xbot/setup.sh` script:

.. code-block:: bash

   echo ". /opt/xbot/setup.sh" >> ~/.bashrc

Note that installing the `xbot2_dekstop_full` package will also provide the following SDKs:

-  `CartesI/O <https://advrhumanoids.github.io/CartesianInterface/index.html>`_ (with OpenSoT under the hood)
-  `MatLogger2 <https://advrhumanoids.github.io/MatLogger2/index.html>`_

Run the examples
================


Clone and compile the `examples repository <https://github.com/ADVRHumanoids/xbot2_examples>`_!
The readme file will guide you through the commented source code, and you'll be able to play
with the *IIT-Teleop* robotic arm inside Gazebo. If you're just curious and you don't want to
deal with software installation, the examples can be executed on a **Docker** container as well
(see the provided instruction).