Vladimír Petrík's Groovy Installation Notes

Relase

Information here are not actual, the installation process for new ROS (hydro) can be found at: Clopema Hydro Packages

Using Eclipse IDE

<cd catkin_ws>
catkin_make --force-cmake -G"Eclipse CDT4 - Unix Makefiles" -DCMAKE_ECLIPSE_MAKE_ARGUMENTS=-j8
vim build/.project -- to change project name (required if more than one ROS workspace exists)
<import project to eclipse>

Add to the CMakeList.txt (require sudo) to include standard c++ header files for indexer:

find_path(STDIO_INCLUDE_PATH stdio.h)
include_directories("${STDIO_INCLUDE_PATH}/dummy/../")

Installation


sudo apt-get install ros-groovy-desktop-full
sudo apt-get install ros-groovy-moveit-full
sudo apt-get install ros-groovy-robot-model-visualization
sudo apt-get install ros-groovy-pr2
sudo apt-get install ros-groovy-industrial-core
sudo pip uninstall rosdep
sudo rm -rf /usr/local/lib/python2.7/dist-packages/rosdep*
sudo pip install -U rosdep
sudo pip install -U rospkg
sudo pip install -U wstool
#If exists:
sudo mv /etc/ros/rosdep/sources.list.d/20-default.list /etc/ros/rosdep/sources.list.d/20-default.list.backup

Rosdep initialization:


sudo rosdep init
rosdep update
source /opt/ros/groovy/setup.bash

Bugs:


#Cannot locate [roslaunch] BUG fix:
sudo easy_install -U rospkg

#RVIZ not launch BUG fix
sudo pip uninstall rosdep

Packages installation:

We use more catkin workspaces to improove building time. All clopema's core packages should be in one workspace but you can make additional one for purpose of testing (if you want to).

Workspaces:

* catkin_moveit_ws - contains MoveIt source codes
* catkin_clopema_ws - our catkinized packages, clopema testbed
* rosbuild_ws - will be removed soon (all packages should be catkinized from rosbuild)

Workspace creation and source codes instalations:

cd <to_sources_folder>
<download ws.sh to this folder>
. ws.sh

.rosinstall

- git: {local-name: clopema_testbed, uri: 'git@clopema.felk.cvut.cz:clopema_testbed.git',
    version: hydro-devel}
- git: {local-name: clopema_tutorials, uri: 'git@clopema.felk.cvut.cz:clopema_tutorials.git',
    version: master}
- git: {local-name: clopema_cvut, uri: 'git@clopema.felk.cvut.cz:clopema_cvut.git',
    version: master}
- git: {local-name: clopema_perception, uri: 'git@clopema.felk.cvut.cz:clopema_perception.git',
    version: master}
- git: {local-name: ros_industrial, uri: 'git@clopema.felk.cvut.cz:ros_industrial.git',
    version: hydro-devel}
- git: {local-name: clopema_motoros, uri: 'git@clopema.felk.cvut.cz:clopema_motoros.git',
    version: hydro-devel}
- git: {local-name: pikron_mars, uri: 'git@clopema.felk.cvut.cz:pikron_mars.git',
    version: hydro-devel}
- git: {local-name: moveit_plugins, uri: 'https://github.com/ros-planning/moveit_plugins.git',
    version: hydro-devel}
- git: {local-name: clopema_utilities, uri: 'git@clopema.felk.cvut.cz:clopema_utilities.git',
    version: hydro-devel}
- git: {local-name: openni2_camera, uri: 'https://github.com/CloPeMa/openni2_camera.git',
    version: hydro-devel}
- git: {local-name: openni2_launch, uri: 'https://github.com/CloPeMa/openni2_launch.git',
    version: hydro-devel}

ws.sh --hydro

#!/bin/sh

#Folder structure
echo "Creating folder structure and workspace initialization" 
mkdir base_catkin_ws base_catkin_ws/src catkin_ws catkin_ws/src
source /opt/ros/hydro/setup.bash
#moveit ws
cd base_catkin_ws/src/; catkin_init_workspace; cd ..; catkin_make; source devel/setup.bash; echo "source `pwd`/devel/setup.bash">>~/.bashrc; cd ..;
#clopema ws
cd catkin_ws/src/; catkin_init_workspace; cd ..; catkin_make; source devel/setup.bash; echo "source `pwd`/devel/setup.bash">>~/.bashrc; cd ..;

#Moveit installation
echo "MoveIt installation" 
cd base_catkin_ws/src/
wstool init .
wstool merge https://raw.github.com/ros-planning/moveit_docs/hydro-devel/moveit.rosinstall
wstool set executive_smach --git https://github.com/ros/executive_smach.git -v hydro-devel
wstool update
cd ..
rosdep install --from-paths src --ignore-src --rosdistro hydro -y
catkin_make
#2x because bad dependency in Moveit
catkin_make
cd ..
source ~/.bashrc

#Clopema installation
echo "Clopema testbed installation" 
cd catkin_ws/src
wstool init .
cd ..
#make 2x because of calibration script
catkin_make
catkin_make --force
cd ..
source ~/.bashrc

ws.sh

#!/bin/sh

#Folder structure
echo "Creating folder structure and workspace initialization" 
mkdir catkin_moveit_ws catkin_moveit_ws/src catkin_clopema_ws catkin_clopema_ws/src rosbuild_ws
source /opt/ros/groovy/setup.bash
#moveit ws
cd catkin_moveit_ws/src/; catkin_init_workspace; cd ..; catkin_make; source devel/setup.bash; echo "source `pwd`/devel/setup.bash">>~/.bashrc; cd ..;
#clopema ws
cd catkin_clopema_ws/src/; catkin_init_workspace; cd ..; catkin_make; source devel/setup.bash; echo "source `pwd`/devel/setup.bash">>~/.bashrc; cd ..;
#rosbuilt
cd rosbuild_ws; rosws init . ../catkin_clopema_ws/devel;cd ..;echo "source `pwd`/rosbuild_ws/setup.bash">>~/.bashrc
source ~/.bashrc

#Moveit installation
echo "MoveIt installation" 
cd catkin_moveit_ws/src/
wstool init .
wstool merge https://raw.github.com/ros-planning/moveit_docs/groovy-devel/moveit.rosinstall
wstool set executive_smach --git https://github.com/ros/executive_smach.git -v groovy-devel
wstool update
cd ..
rosdep install --from-paths src --ignore-src --rosdistro groovy -y
catkin_make
#2x because bad dependency in Moveit
catkin_make
cd ..
source ~/.bashrc

#Clopema installation
echo "Clopema testbed installation" 
cd catkin_clopema_ws/src
wstool init .
wstool set clopema_testbed --git git@bitbucket.org:voop/clopema_testbed.git -v master
wstool update
cd ..
#make 2x because of calibration script
catkin_make
catkin_make --force
cd ..
source ~/.bashrc

#Rosbuild packages
echo "Rosbuild packages" 
cd rosbuild_ws
rosws set ros_industrial --git git@clopema.felk.cvut.cz:ros_industrial.git
rosws set clopema_motoros --git git@clopema.felk.cvut.cz:clopema_motoros.git
rosws update
source ~/.bashrc

cd clopema_motoros
git checkout groovy
rosmake clopema_motoros
cd ../..