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 -p ~/isir/orocos-2.9_ws/src
cd ~/isir/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 ~/isir/orocos-2.9_ws/
# Install dependencies
source /opt/ros/kinetic/setup.bash
rosdep install --from-paths ~/isir/orocos-2.9_ws/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

mkdir -p ~/isir/rtt_ros-2.9_ws/src
cd ~/isir/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 ~/isir/rtt_ros-2.9_ws/
# Install dependencies
source ~/isir/orocos-2.9_ws/install/setup.bash
rosdep install --from-paths ~/isir/rtt_ros-2.9_ws/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

Use OROCOS with CORBA + MQUEUE (Advanced)

In order to use the corba interface (connect multiple deployers together), you’ll need to build the orocos_ws and rtt_ros_ws with :

catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release -DENABLE_MQ=ON -DENABLE_CORBA=ON -DCORBA_IMPLEMENTATION=OMNIORB

Reference : http://www.orocos.org/stable/documentation/rtt/v2.x/doc-xml/orocos-components-manual.html#orocos-corba

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

Note

If you want to install and test cart_opt_ctrl : wstool merge https://raw.githubusercontent.com/kuka-isir/rtt_lwr/rtt_lwr-2.0/lwr_utils/config/rtt_lwr-full.rosinstall

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.

Configure the workspace

If building rtt_ros from source :

cd ~/isir/lwr_ws
catkin config --init --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
../_images/catkin-build.png

Once it’s done, load the workspace :

source ~/isir/lwr_ws/devel/setup.bash

Tip

Put it in you bashrc : echo 'source ~/isir/lwr_ws/devel/setup.bash' >> ~/.bashrc

Now we can test the installation.