ROS_Setup - kairproject/kair_algorithms_draft GitHub Wiki
ROS for kairproject setup
Environment
- ubuntu 16.04 xenial
- python2.7
- ROS kinetic
ROS uses python2.7, but python2 is supported until 1.Jan.2020. ROS2 is released and uses python3, but not stable yet. We will refactor code using ROS2 and python3 when our mid project is finished.
Installation
sudo apt-get update
sudo apt-get upgrade
sudo apt-get install git wget
sudo apt-get install vim
# or your favortie editor.
Install ROS
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu xenial main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
sudo apt-get update
sudo apt-get upgrade
sudo apt-get install ros-kinetic-desktop-full ros-kinetic-rqt-*
sudo rosdep init
rosdep update
sudo apt install python-rosinstall python-rosinstall-generator python-wstool build-essential
sudo apt-get install ros-kinetic-ros-controllers ros-kinetic-gazebo* ros-kinetic-moveit* ros-kinetic-industrial-core ros-kinetic-orocos-*
sudo rm -rf /var/lib/apt/lists/*
ROS setting
mkdir -p catkin_ws/src
cd catkin_ws
sudo echo "source /opt/ros/kinetic/setup.bash" >> $HOME/.bashrc
sudo echo "export PYTHONPATH=/opt/ros/kinetic}/lib/python2.7/dist-packages" >> $HOME/.bashrc
sudo echo "source $CATKIN_WS/devel/setup.bash" >> $HOME/.bashrc
sudo echo "export ROS_MASTER_URI=http://localhost:11311" >> $HOME/.bashrc
sudo echo "export ROS_HOSTNAME=localhost" >> $HOME/.bashrc
sudo source $HOME/.bashrc
Clone ROS packages
You can clone all repositories in one command.
cd src/ && \
git clone -b kinetic-devel https://github.com/kairproject/DynamixelSDK.git && \
git clone -b kinetic-devel https://github.com/kairproject/dynamixel-workbench.git && \
git clone -b kinetic-devel https://github.com/kairproject/dynamixel-workbench-msgs.git && \
git clone -b kinetic-devel https://github.com/kairproject/open_manipulator.git && \
git clone -b kinetic-devel https://github.com/kairproject/open_manipulator_msgs.git && \
git clone -b kinetic-devel https://github.com/kairproject/open_manipulator_simulations.git && \
git clone -b kinetic-devel https://github.com/kairproject/robotis_manipulator.git && \
git clone https://github.com/gt-ros-pkg/hrl-kdl.git && \
git clone https://github.com/kairproject/kair_algorithms_draft.git
cd /DynamixelSDK/python && python setup.py install
Install pip
cd
cd catkin_ws
sudo wget https://bootstrap.pypa.io/get-pip.py
sudo python2.7 get-pip.py
sudo rm get-pip.py
Gym requirements
sudo apt-get update
sudo apt-get install python3-opengl zlib1g-dev libjpeg-dev patchelf cmake swig libboost-all-dev libsdl2-dev libosmesa6-dev xvfb ffmpeg
Install repository requirements
sudo apt-get remove python-psutil
cd src/kair_algorithms_draft/scripts
sudo python2.7 -m pip install -r requirements.txt
sudo python2.7 -m pip install gym['Box2d']
Permission setting
cd
cd catkin_ws
sudo chmod +x -R src/kair_algorithms_draft
Catkin_make
source /opt/ros/kinetic/setup.bash
catkin_make
It's finished!
Issues
When you have issues with setup, just fix your issue and continue our setting description.