-
Notifications
You must be signed in to change notification settings - Fork 23
/
Copy pathinstall_awtb_en.html
231 lines (209 loc) · 15.1 KB
/
install_awtb_en.html
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
<!DOCTYPE html
PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN">
<html><head>
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<!--
This HTML was auto-generated from MATLAB code.
To make changes, update the MATLAB code and republish this document.
--><title>Install Autoware Toolbox in MATLAB</title><meta name="generator" content="MATLAB 9.5"><link rel="schema.DC" href="http://purl.org/dc/elements/1.1/"><meta name="DC.date" content="2019-05-14"><meta name="DC.source" content="install_awtb_en.m"><style type="text/css">
html,body,div,span,applet,object,iframe,h1,h2,h3,h4,h5,h6,p,blockquote,pre,a,abbr,acronym,address,big,cite,code,del,dfn,em,font,img,ins,kbd,q,s,samp,small,strike,strong,sub,sup,tt,var,b,u,i,center,dl,dt,dd,ol,ul,li,fieldset,form,label,legend,table,caption,tbody,tfoot,thead,tr,th,td{margin:0;padding:0;border:0;outline:0;font-size:100%;vertical-align:baseline;background:transparent}body{line-height:1}ol,ul{list-style:none}blockquote,q{quotes:none}blockquote:before,blockquote:after,q:before,q:after{content:'';content:none}:focus{outine:0}ins{text-decoration:none}del{text-decoration:line-through}table{border-collapse:collapse;border-spacing:0}
html { min-height:100%; margin-bottom:1px; }
html body { height:100%; margin:0px; font-family:Arial, Helvetica, sans-serif; font-size:10px; color:#000; line-height:140%; background:#fff none; overflow-y:scroll; }
html body td { vertical-align:top; text-align:left; }
h1 { padding:0px; margin:0px 0px 25px; font-family:Arial, Helvetica, sans-serif; font-size:1.5em; color:#d55000; line-height:100%; font-weight:normal; }
h2 { padding:0px; margin:0px 0px 8px; font-family:Arial, Helvetica, sans-serif; font-size:1.2em; color:#000; font-weight:bold; line-height:140%; border-bottom:1px solid #d6d4d4; display:block; }
h3 { padding:0px; margin:0px 0px 5px; font-family:Arial, Helvetica, sans-serif; font-size:1.1em; color:#000; font-weight:bold; line-height:140%; }
a { color:#005fce; text-decoration:none; }
a:hover { color:#005fce; text-decoration:underline; }
a:visited { color:#004aa0; text-decoration:none; }
p { padding:0px; margin:0px 0px 20px; }
img { padding:0px; margin:0px 0px 20px; border:none; }
p img, pre img, tt img, li img, h1 img, h2 img { margin-bottom:0px; }
ul { padding:0px; margin:0px 0px 20px 23px; list-style:square; }
ul li { padding:0px; margin:0px 0px 7px 0px; }
ul li ul { padding:5px 0px 0px; margin:0px 0px 7px 23px; }
ul li ol li { list-style:decimal; }
ol { padding:0px; margin:0px 0px 20px 0px; list-style:decimal; }
ol li { padding:0px; margin:0px 0px 7px 23px; list-style-type:decimal; }
ol li ol { padding:5px 0px 0px; margin:0px 0px 7px 0px; }
ol li ol li { list-style-type:lower-alpha; }
ol li ul { padding-top:7px; }
ol li ul li { list-style:square; }
.content { font-size:1.2em; line-height:140%; padding: 20px; }
pre, code { font-size:12px; }
tt { font-size: 1.2em; }
pre { margin:0px 0px 20px; }
pre.codeinput { padding:10px; border:1px solid #d3d3d3; background:#f7f7f7; }
pre.codeoutput { padding:10px 11px; margin:0px 0px 20px; color:#4c4c4c; }
pre.error { color:red; }
@media print { pre.codeinput, pre.codeoutput { word-wrap:break-word; width:100%; } }
span.keyword { color:#0000FF }
span.comment { color:#228B22 }
span.string { color:#A020F0 }
span.untermstring { color:#B20000 }
span.syscmd { color:#B28C00 }
.footer { width:auto; padding:10px 0px; margin:25px 0px 0px; border-top:1px dotted #878787; font-size:0.8em; line-height:140%; font-style:italic; color:#878787; text-align:left; float:none; }
.footer p { margin:0px; }
.footer a { color:#878787; }
.footer a:hover { color:#878787; text-decoration:underline; }
.footer a:visited { color:#878787; }
table th { padding:7px 5px; text-align:left; vertical-align:middle; border: 1px solid #d6d4d4; font-weight:bold; }
table td { padding:7px 5px; text-align:left; vertical-align:top; border:1px solid #d6d4d4; }
</style></head><body><div class="content"><h1>Install Autoware Toolbox in MATLAB</h1><!--introduction--><!--/introduction--><h2>Contents</h2><div><ul><li><a href="#1">1. Download from GitHub</a></li><li><a href="#2">2. Add Autoware Toolbox folder to MATLAB search path</a></li><li><a href="#3">3. Install Robotics System Toolbox Interface for ROS Custom Messages</a></li><li><a href="#7">4. Create Custom Messages from ROS Package</a></li><li><a href="#10">5. Adjust the Java heap size</a></li><li><a href="#11">6. Restart MATLAB</a></li></ul></div><h2 id="1">1. Download from GitHub</h2><p>Download the Autoware Toolbox from the <a href="https://github.com/CPFL/Autoware_Toolbox">GitHub repository</a></p><h2 id="2">2. Add Autoware Toolbox folder to MATLAB search path</h2><p>Run autoware_toolbox_setup.m in the root folder of Autoware Toolbox.</p><p><img vspace="5" hspace="5" src="./images/run_setup_en.png" alt=""> </p><h2 id="3">3. Install Robotics System Toolbox Interface for ROS Custom Messages</h2><p><b><tt>a. Confirm if add-on is installed.</tt></b></p><p>Paste the following program into the MATLAB command window and execute it.</p><pre class="codeinput">addons = matlab.addons.installedAddons;
addon_id = <span class="string">'RO_CUSTOM_ROS_INTERFACE'</span>;
tf = strcmp(addon_id, addons.Identifier);
installed_ros_if = any(tf);
<span class="keyword">if</span> installed_ros_if
disp(<span class="string">'Robotics System Toolbox Interface for ROS Custom Messages is already installed.'</span>);
<span class="keyword">else</span>
disp(<span class="string">'Robotics System Toolbox interface for ROS Custom Messages is not installed.'</span>);
<span class="keyword">end</span>
</pre><p><b><tt>b. Install Robotics System Toolbox Interface for ROS Custom Messages</tt></b></p><p><i><b>If already installed, this work is not necessary. Skip to "4. Create ROS custom message".</b></i></p><p>To install the add-ons relevant to Robotics System Toolbox, enter the following command in the MATLAB command window and execute.</p><pre class="codeinput">roboticsAddons();
</pre><p>When the Add-On Explorer opens, select Robotics System Toolbox Interface for ROS Custom Messages.</p><p><img vspace="5" hspace="5" src="./images/addon_explore_en.png" alt=""> </p><p><br></p><p>Click "Install" button.</p><p><img vspace="5" hspace="5" src="./images/install_if_ros_custom_msg_en.png" alt=""> </p><p><br></p><p>Click "I Accept" button.</p><p><img vspace="5" hspace="5" src="./images/agree_license_en.png" alt=""> </p><p><br></p><p>When the third-party software installation screen appears, click Next.</p><p><img vspace="5" hspace="5" src="./images/third_party_software_en.png" alt=""> </p><p>Continue to follow the setup instructions on the Add-On Explorer to install add-ons.</p><p><tt>Reference</tt></p><div><ol><li><a href="matlab:web(fullfile(docroot,'robotics/ug/install-robotics-system-toolbox-support-packages.html'))">Install Robotics System Toolbox Add-ons （MATLABヘルプ）</a></li><li><a href="https://www.mathworks.com/help/releases/R2018a/robotics/ug/install-robotics-system-toolbox-support-packages.html">Install Robotics System Toolbox Add-ons （MathWorks Webサイト）</a></li></ol></div><h2 id="7">4. Create Custom Messages from ROS Package</h2><p><b><tt>a. Run a custom message generation program.</tt></b></p><p>Paste the following command into the MATLAB command window and execute it.</p><pre class="codeinput">autoware.createCustomMessages();
</pre><p><b>|b. Edit javaclasspath.txt |</b></p><p>Follow the steps below or execute <a href="matlab:autoware.editJavaClassPath()">autoware.editJavaClassPath()</a>.</p><p>1. Click the javaclasspath.txt link to open the file in the Editor.</p><p><img vspace="5" hspace="5" src="./images/after_rosgenmsg_en.png" alt=""> </p><p>2. Copy and paste the different jar file locations as new lines in the file. If this file does not exist, you will be prompted to create it. Click Yes and then copy and paste the file locations into the file.</p><p>3. The javaclasspath.txt looks like this after adding lines. Other paths may also already exist in this file.</p><p><img vspace="5" hspace="5" src="./images/javaclasspath_txt_en.png" alt=""> </p><p><b><tt>c. Add custom message folders to the MATLAB search path</tt></b> Paste the following command into the MATLAB command window and execute it.</p><pre class="codeinput">autoware.addCustomMessageFolderToSearchPath();
</pre><p><tt>Reference</tt></p><div><ol><li><a href="matlab:web(fullfile(docroot,'robotics/ug/create-custom-messages-from-ros-package.html'))">Create Custom Messages from ROS Package （MATLABヘルプ）</a></li><li><a href="https://www.mathworks.com/help/releases/R2018a/robotics/ug/create-custom-messages-from-ros-package.html">Create Custom Messages from ROS Package （MathWorks Webサイト）</a></li></ol></div><h2 id="10">5. Adjust the Java heap size</h2><p>Autoware may send and receive large ROS messages. Therefore, increase the Java heap memory size.</p><p>1. Click <i>Preferences</i> on the MATLAB toolbar.</p><p>2. Expand General</p><p>3. To open the MATLAB <i>General</i> Java Heap Memory Preferences panel, click <i>Java Heap Memory</i></p><p><img vspace="5" hspace="5" src="./images/java_heap_memory_preferences_en.png" alt=""> </p><p>4. Adjust the Java heap memory size.</p><p>5. Click the "OK" button to close the dialog box.</p><p>6. To enable the new Java heap size, restart MATLAB.</p><p><tt>Reference</tt></p><div><ol><li><a href="matlab:web(fullfile(docroot,'robotics/ug/create-custom-messages-from-ros-package.html'))">Create Custom Messages from ROS Package （MATLABヘルプ）</a></li><li><a href="https://www.mathworks.com/help/releases/R2018a/robotics/ug/create-custom-messages-from-ros-package.html">Create Custom Messages from ROS Package （MathWorks Webサイト）</a></li></ol></div><h2 id="11">6. Restart MATLAB</h2><div><ol><li>Restart MATLAB for the new Java heap size and path changes to be applied.</li><li>After restarting MATLAB, verify the Autoware messages are registered.</li></ol></div><pre class="codeinput">rosmsg <span class="string">list</span>
</pre><p>If the Autoware messages are registered, the installation is complete.</p><p><img vspace="5" hspace="5" src="./images/autoware_messages_en.png" alt=""> </p><p class="footer"><br><a href="https://www.mathworks.com/products/matlab/">Published with MATLAB® R2018b</a><br></p></div><!--
##### SOURCE BEGIN #####
%% Install Autoware Toolbox in MATLAB
%
%% 1. Download from GitHub
%
% Download the Autoware Toolbox from the
% <https://github.com/CPFL/Autoware_Toolbox GitHub repository>
%
%% 2. Add Autoware Toolbox folder to MATLAB search path
%
% Run autoware_toolbox_setup.m in the root folder of Autoware Toolbox.
%
% <<./images/run_setup_en.png>>
%
%% 3. Install Robotics System Toolbox Interface for ROS Custom Messages
%
% *|a. Confirm if add-on is installed.|*
%
% Paste the following program into the MATLAB command window and execute it.
%
addons = matlab.addons.installedAddons;
addon_id = 'RO_CUSTOM_ROS_INTERFACE';
tf = strcmp(addon_id, addons.Identifier);
installed_ros_if = any(tf);
if installed_ros_if
disp('Robotics System Toolbox Interface for ROS Custom Messages is already installed.');
else
disp('Robotics System Toolbox interface for ROS Custom Messages is not installed.');
end
%%
%
% *|b. Install Robotics System Toolbox Interface for ROS Custom Messages|*
%
% _*If already installed, this work is not necessary. Skip to "4. Create ROS custom message".*_
%
% To install the add-ons relevant to Robotics System Toolbox, enter the following command in the MATLAB command window and execute.
roboticsAddons();
%%
%
% When the Add-On Explorer opens, select Robotics System Toolbox Interface for ROS Custom Messages.
%
% <<./images/addon_explore_en.png>>
%
% <html><br></html>
%
% Click "Install" button.
%
% <<./images/install_if_ros_custom_msg_en.png>>
%
% <html><br></html>
%
% Click "I Accept" button.
%
% <<./images/agree_license_en.png>>
%
% <html><br></html>
%
% When the third-party software installation screen appears, click Next.
%
% <<./images/third_party_software_en.png>>
%
% Continue to follow the setup instructions on the Add-On Explorer to install add-ons.
%
%%
%
% |Reference|
%
% # <matlab:web(fullfile(docroot,'robotics/ug/install-robotics-system-toolbox-support-packages.html')) Install Robotics System Toolbox Add-ons （MATLABヘルプ）>
% # <https://www.mathworks.com/help/releases/R2018a/robotics/ug/install-robotics-system-toolbox-support-packages.html Install Robotics System Toolbox Add-ons （MathWorks Webサイト）>
%
%% 4. Create Custom Messages from ROS Package
%
% *|a. Run a custom message generation program.|*
%
% Paste the following command into the MATLAB command window and execute it.
autoware.createCustomMessages();
%%
%
% *|b. Edit javaclasspath.txt |*
%
% Follow the steps below or execute
% <matlab:autoware.editJavaClassPath() autoware.editJavaClassPath()>.
%
% 1. Click the javaclasspath.txt link to open the file in the Editor.
%
% <<./images/after_rosgenmsg_en.png>>
%
% 2. Copy and paste the different jar file locations as new lines in the file. If this file does not exist, you will be prompted to create it. Click Yes and then copy and paste the file locations into the file.
%
% 3. The javaclasspath.txt looks like this after adding lines. Other paths may also already exist in this file.
%
% <<./images/javaclasspath_txt_en.png>>
%
% *|c. Add custom message folders to the MATLAB search path|*
% Paste the following command into the MATLAB command window and execute it.
%
autoware.addCustomMessageFolderToSearchPath();
%%
%
% |Reference|
%
% # <matlab:web(fullfile(docroot,'robotics/ug/create-custom-messages-from-ros-package.html')) Create Custom Messages from ROS Package （MATLABヘルプ）>
% # <https://www.mathworks.com/help/releases/R2018a/robotics/ug/create-custom-messages-from-ros-package.html Create Custom Messages from ROS Package （MathWorks Webサイト）>
%
%% 5. Adjust the Java heap size
%
% Autoware may send and receive large ROS messages.
% Therefore, increase the Java heap memory size.
%
% 1. Click
% _Preferences_ on the MATLAB toolbar.
%
% 2. Expand General
%
% 3. To open the MATLAB
% _General_ Java Heap Memory Preferences panel, click
% _Java Heap Memory_
%
% <<./images/java_heap_memory_preferences_en.png>>
%
% 4. Adjust the Java heap memory size.
%
% 5. Click the "OK" button to close the dialog box.
%
% 6. To enable the new Java heap size, restart MATLAB.
%
% |Reference|
%
% # <matlab:web(fullfile(docroot,'robotics/ug/create-custom-messages-from-ros-package.html')) Create Custom Messages from ROS Package （MATLABヘルプ）>
% # <https://www.mathworks.com/help/releases/R2018a/robotics/ug/create-custom-messages-from-ros-package.html Create Custom Messages from ROS Package （MathWorks Webサイト）>
%
%% 6. Restart MATLAB
%
% # Restart MATLAB for the new Java heap size and path changes to be applied.
% # After restarting MATLAB, verify the Autoware messages are registered.
rosmsg list
%%
%
% If the Autoware messages are registered, the installation is complete.
%
% <<./images/autoware_messages_en.png>>
%
##### SOURCE END #####
--></body></html>