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installation [2022/09/15 11:46] – [Windows Install] arthurinstallation [2023/05/12 18:05] (current) – [Quickstart with Docker] arthur
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 ====== CRAM installation ====== ====== CRAM installation ======
  
 +===== Quickstart with Docker =====
 +
 +For a quick peek into CRAM, check out [[https://github.com/cram2/cram_teaching|the Docker setup]] and the [[ https://seafile.zfn.uni-bremen.de/f/04e12809b4d347bebf71/| visual setup procedure]].
 ===== Prerequisites ===== ===== Prerequisites =====
  
 == OS and ROS == == OS and ROS ==
  
-The recommended setup is Ubuntu 18.04 LTS with ROS Melodic. \\+The recommended setup is Ubuntu 20.04 LTS with ROS Noetic. \\
 This is the setup under which the CRAM team is working and it is best supported. This is the setup under which the CRAM team is working and it is best supported.
  
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 ==== Windows Install ==== ==== Windows Install ====
- +  - Enable Hardware Virtualization in your BIOS settings 
-1. Enable Hardware Virtualization +  - [[https://medium.com/javarevisited/using-wsl-2-with-x-server-linux-on-windows-a372263533c3|Install, configure and launch VcXsrv]] 
- +  - Enable the WSL 2 feature in ''Turn Windows features on or off''  
-2. [Install, configure and launch VcXsrv](https://medium.com/javarevisited/using-wsl-2-with-x-server-linux-on-windows-a372263533c3) +  - Set Firewall to allow WSL comunication. Easiest way is by disabling Firewall for public networks, or add a rule for WSL. 
- +  - [[https://seafile.zfn.uni-bremen.de/f/8960a515395f4a96b97b/|Download the WSL image]] 
-3. Set up WSL 2 +  - Import the image into WSL from Powershell with <code> wsl --import Ubuntu-20.04-Cram C:\Users\$env:UserName\Documents\Ubuntu-20.04-Cram C:\Users\$env:UserName\Downloads\Ubuntu2004RosCramJupyter.tar </code> 
- +  - Set the image as default with <code>wsl --set-default Ubuntu-20.04-Cram</code> 
-4. Set Firewall to allow WSL comunication. Easiest by disabeling Firewall for public networks, but you can add a rule for WSL. +  - Launch Ubuntu-20.04 from the windows menu. The username and password is ''cram'' 
- +  - ''glxgears'' will test the x-forwarding to VcXsrv. If nothing happens, check the VcXsrv setup and Firewall rules. 
-5. [Download the WSL image](https://seafile.zfn.uni-bremen.de/f/8960a515395f4a96b97b/) +  - ''roslisp_repl &'' will launch Emacs.
- +
-6. Import the image into WSL from Powershell with  +
- +
-``` +
-wsl --import Ubuntu-20.04-Cram C:\Users\test\Documents\Ubuntu-20.04-Cram C:\Users\test\Downloads\Ubuntu2004RosCramJupyter.tar +
-``` +
- +
-7. Set the image as default with +
- +
-``` +
-wsl --set-default Ubuntu-20.04-Cram +
-``` +
- +
-8. Launch Ubuntu-20.04 from the windows menu. +
- +
-9. `glxgears` will test the xforwarding to VcXsrv. If nothing happens, check the VcXsrv and Firewall setup. +
- +
-10. `roslisp_repl &` will launch Emacs.+
  
 Happy hacking! Happy hacking!
  
-How to launch the Jupyter Notebook +=== How to launch the Jupyter Notebook ===
- +
-1. `roslaunch cram_pr2_pick_place_demo sandbox.launch &` +
- +
-2. `jupyter-lab --allow-root --no-browser --port 8888`+
  
-3. Open the URL in your browser+  - ''roslaunch cram_pr2_pick_place_demo sandbox.launch &'' 
 +  - ''jupyter-lab --allow-root --no-browser --port 8888'' 
 +  - Open the URL in your browser
  
 ===== Get ready for development ===== ===== Get ready for development =====