Installation on Ubuntu 16.04¶
ROS Kinetic ++¶
From http://wiki.ros.org/kinetic/Installation/Ubuntu.
Required tools¶
sudo sh -c "echo 'deb http://packages.ros.org/ros/ubuntu $(lsb_release -cs) main' > /etc/apt/sources.list.d/ros-latest.list"
wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
sudo apt update
sudo apt install python-rosdep python-catkin-tools ros-kinetic-catkin python-wstool python-vcstool
Fix Locales¶
sudo locale-gen en_US #warnings might occur
sudo locale-gen en_US.UTF-8
sudo nano /etc/environment
# put theses lines
LANGUAGE=en_US
LC_ALL=en_US
# Reboot !
If you type perl
you should not see any warnings.
ROS Kinetic Desktop¶
# ROS Desktop (NOT DESKTOP-FULL)
sudo apt install ros-kinetic-desktop
After Install¶
# Load The environment
source /opt/ros/kinetic/setup.bash
# Update ROSdep (to get dependencies automatically)
sudo rosdep init
rosdep update
MoveIt! (via debians)¶
# MoveIt!
sudo apt install ros-kinetic-moveit
OROCOS 2.9 + rtt_ros_integration 2.9 (from source)¶
OROCOS toolchain 2.9¶
mkdir ~/isir ; cd ~/isir
mkdir -p orocos-2.9_ws/src
cd orocos-2.9_ws/src
# Get all the packages
wstool init
wstool merge https://raw.githubusercontent.com/kuka-isir/rtt_lwr/rtt_lwr-2.0/lwr_utils/config/orocos_toolchain-2.9.rosinstall
wstool update -j2
# Get the latest updates (OPTIONAL)
cd orocos_toolchain
git submodule foreach git checkout toolchain-2.9
git submodule foreach git pull
# Configure the workspace
cd ../../
# Install dependencies
source /opt/ros/kinetic/setup.bash
rosdep install --from-paths src --ignore-src --rosdistro kinetic -y -r
catkin config --init --install --extend /opt/ros/kinetic/ --cmake-args -DCMAKE_BUILD_TYPE=Release
# Build
catkin build
rtt_ros_integration 2.9¶
cd ~/isir
mkdir -p rtt_ros-2.9_ws/src
cd rtt_ros-2.9_ws/src
# Get all the packages
wstool init
wstool merge https://github.com/kuka-isir/rtt_lwr/raw/rtt_lwr-2.0/lwr_utils/config/rtt_ros_integration-2.9.rosinstall
wstool update -j2
# Configure the workspace
cd ../
# Install dependencies
source ~/isir/orocos-2.9_ws/install/setup.bash
rosdep install --from-paths src --ignore-src --rosdistro kinetic -y -r
catkin config --init --install --extend ~/isir/orocos-2.9_ws/install --cmake-args -DCMAKE_BUILD_TYPE=Release
# Build (this can take a while)
catkin build
Gazebo 8¶
From http://gazebosim.org/tutorials?tut=install_ubuntu&cat=install.
# Gazebo 8
curl -ssL http://get.gazebosim.org | sh
# The ros packages
sudo apt install ros-kinetic-gazebo8-*
Note
Don’t forget to put source source /usr/share/gazebo/setup.sh
in your ~/isir/.bashrc
or you won’t have access to the gazebo plugins (Simulated cameras, lasers, etc).
ROS Control¶
This allows you to use MoveIt! or just the ros_control capabilities in an orocos environnement. Let’s install everything :
sudo apt install ros-kinetic-ros-control* ros-kinetic-control*
RTT LWR packages¶
mkdir -p ~/isir/lwr_ws/src/
cd ~/isir/lwr_ws/src
# Get all the packages
wstool init
# Get rtt_lwr 'base'
wstool merge https://raw.githubusercontent.com/kuka-isir/rtt_lwr/rtt_lwr-2.0/lwr_utils/config/rtt_lwr.rosinstall
# Get the extra packages
wstool merge https://raw.githubusercontent.com/kuka-isir/rtt_lwr/rtt_lwr-2.0/lwr_utils/config/rtt_lwr-extras.rosinstall
# Download
wstool update -j2
Cart Opt Ctrl¶
Experimental optimisation based controller :
wstool merge https://raw.githubusercontent.com/kuka-isir/rtt_lwr/rtt_lwr-2.0/lwr_utils/config/rtt_lwr-full.rosinstall
wstool update
Install dependencies¶
# If you compiled rtt_ros from sources
source ~/isir/rtt_ros-2.9_ws/install/setup.bash
# Use rosdep tool
rosdep install --from-paths ~/isir/lwr_ws/src --ignore-src --rosdistro kinetic -y -r
Note
Gazebo 7 is shipped by default with kinetic, so rosdep will try to install it and fail. You can ignore this issue safely as you now have Gazebo 8 installed.
# dpkg-query: no packages found matching gazebo7
# ERROR: the following rosdeps failed to install
# apt: command [sudo -H apt-get install -y gazebo7] failed
# apt: Failed to detect successful installation of [gazebo7]
Configure the workspace¶
cd ~/isir/lwr_ws
catkin config --init --install --extend ~/isir/rtt_ros-2.9_ws/install --cmake-args -DCMAKE_CXX_FLAGS=-std=c++11 -DCMAKE_BUILD_TYPE=Release
Build the workspace¶
Let’s build the entire workspace :
catkin build --workspace ~/isir/lwr_ws
Once it’s done, load the workspace :
source ~/isir/lwr_ws/install/setup.bash
Tip
Put it in you bashrc : echo 'source ~/isir/lwr_ws/install/setup.bash' >> ~/.bashrc
Now we can test the installation.