Installation

Installation

Before You Begin

Install ROS Indigo from www.ros.org. Be sure to follow the steps all the way up through initializing the rosdep repository.

Create a Catkin Workspace

If you already have a catkin workspace, you may build the rcta_manipulation stack within that workspace. Otherwise, you need to create a catkin workspace. The workspace of choice will be referred to as rcta_ws.

If you have an existing workspace, simply change to the source directory of the catkin workspace:

cd /path/to/rcta_ws/src

If you need to create a catkin workspace, do so following the standard procedure. For best results, your environment should initially be clear of any other ROS installations (i.e. do not source another workspace's setup.bash unless you know what you're doing). Enter the following commands to initialize the catkin workspace:

mkdir -p rcta_ws/src
cd rcta_ws/src
source /opt/ros/indigo/setup.bash
catkin_init_workspace

Repository Checkout

Clone the rcta_manipulation repository using either

git clone [email protected]:aurone/rcta_manipulation.git

or

git clone https://github.com/aurone/rcta_manipulation.git

Install System Source Dependencies

Install SBPL:

Clone the source code from Github:

git clone https://github.com/sbpl/sbpl.git

Build SBPL and install using CMake:

cd sbpl && mkdir build && cd build && cmake .. && make && sudo make install

Clone Catkin Source Dependencies

rcta_manipulation manages catkin source dependencies using wstool. If you do not have the wstool utility, follow the instructions at http://wiki.ros.org/wstool for installing it.

The rcta_manipulation package contains a rosinstall file, rcta.rosinstall, that should be merged with an existing .rosinstall file, for cloning all necessary source dependencies. If you do not have a .rosinstall existing in rcta_ws/src, create one:

wstool init

Once you have an existing .rosinstall located in rcta_ws/src, execute the following command to merge with rcta_manipulation's source dependencies:

wstool merge rcta_manipulation/rcta.rosinstall

Clone/Update all source dependencies via wstool:

cd rcta_ws
wstool update -t src

All of the catkin source dependencies should now exist within rcta_ws/src.

Install System Dependencies

rcta_manipulation uses rosdep to manage system dependencies.

Create setup files for the workspace:

cd rcta_ws
catkin_make
source devel/setup.bash

The second command will fail if system dependencies are missing. However, catkin will create a setup file for the workspace to ease installation of all the required system dependencies.

Install system dependencies for projects in the workspace:

cd rcta_ws/src
for d in $(find . -name package.xml); do PKG=$(basename $(dirname $d)); rosdep install -i -y $PKG; done

This will install the rosdep-managed system dependencies for every package in the workspace, skipping those that are available as source dependencies.

Install JPL libraries:

TODO: link to the current version of rs_limb_dist, rs_limb_client_src, and rs_limb_catkkin_ws.

Build the rs_limb_dist package by following the instructions provided within the package.

Add the roman_client_ros_utils package to your catkin workspace. Note that to build this package in the catkin workspace, the environment variables RS_LIMB_ROOT and RS_LIMB_CLIENT_SRC must be set to the appropriate directories within the rs_limb_dist package.

Building

Build the workspace:

cd rcta_ws
catkin_make -j8

...or replace 8 with the number of threads you're comfortable building with.

Source the workspace:

source rcta_ws/devel/setup.bash

You may want to add that last command to source the workspace to your bashrc.