Merge pull request #203 from rhaschke/install

Improve installation process

binder/README.md

@@ -99,8 +99,7 @@ RUN cd pycram \
   && cd src/neem_interface_python \
   && git clone https://github.com/benjaminalt/neem-interface.git src/neem-interface
 
-RUN pip install --requirement ${PYCRAM_WS}/src/pycram/requirements.txt --user 
-RUN pip install --requirement ${PYCRAM_WS}/src/pycram/src/neem_interface_python/requirements.txt --user \
+RUN pip install --requirement ${PYCRAM_WS}/src/pycram/requirements.txt --user \
   && pip cache purge
 ```
 
@@ -448,15 +447,3 @@ with simulated_robot:
                  arms=["left"],
                  grasps=["left", "right"]).resolve().perform()
 ```
-
-
-
-
-
-
-
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-
-
-
-

binder/pycram-http.rosinstall

@@ -7,18 +7,10 @@ repositories:
     type: git
     url: http://github.com/code-iai/iai_robots.git
     version: master
-  pr2_common:
-    type: git
-    url: https://github.com/PR2/pr2_common.git
-    version: b34703bcca2b07cadbc3777d3c504c232a0c0c28
   kdl_ik_services:
     type: git
     url: https://github.com/cram2/kdl_ik_service.git
     verison: master
-  pr2_kinematics:
-    type: git
-    url: https://github.com/PR2/pr2_kinematics.git
-    version: kinetic-devel
   orocos_kinematics_dynamics:
     type: git
     url: https://github.com/orocos/orocos_kinematics_dynamics.git

doc/source/installation.rst

@@ -105,8 +105,19 @@ Then install the Python packages in the requirements.txt file
 .. code-block:: shell
 
     sudo pip3 install -r requirements.txt
-    sudo pip3 install -r src/neem_interface_python/requirements.txt
 
+This installs the packages into ``/usr/local/lib``. If you prefer to not clutter your system-wide python installation,
+you can also install the packages into the catkin workspace as follows:
+
+.. code-block:: shell
+
+    # install packages into catkin workspace instead of ~/.local
+    export PYTHONUSERBASE=~/workspace/ros/devel
+    # don't install packages that are available in system
+    export PIP_IGNORE_INSTALLED=0
+
+    pip3 install -r requirements.txt
+    pip3 install -r src/neem_interface_python/requirements.txt
 
 Building your ROS workspace
 ===========================

doc/source/remarks.rst

@@ -33,14 +33,3 @@ Dirty Terminals
 
 If your terminal gets polluted by PyBullet complaining about incomplete URDF descriptions, you need to first fix your
 URDF files by inserting the missing tags and second delete the `resources/cached` folder.
-
-Missing pr2_arm_kinematics
-==========================
-
-Aptitudes autoremove likes to also remove the arm kinematics. Reinstall the missing libraries with
-
-.. code-block:: shell
-
-    sudo apt-get install ros-noetic-moveit
-
-Then rebuild your workspace.

doc/source/troubleshooting.rst

@@ -108,32 +108,3 @@ real_robot environments. This is also explained in the `Action Designator Exampl
 
    with simulated_robot:
       NavigateAction([Pose()]).resolve().perform()
-
-Missing pr2_arm_kinematics
-==========================
-
-Aptitudes autoremove likes to also remove the arm kinematics. The error message looks similar to this. Important is the
-missing library libmoveit_kinematics_base.so. This can be fixed by reinstalling the missing libraries.
-
-.. code-block:: shell
-
-   process[pr2_left_arm_kinematics-3]: started with pid [26862]
-   pr2_arm_kinematics_node: error while loading shared libraries: libmoveit_kinematics_base.so.1.1.12: cannot open shared object file: No such file or directory
-   process[pr2_right_arm_kinematics-4]: started with pid [26863]
-   [pr2_left_arm_kinematics-3] process has died [pid 26862, exit code 127, cmd ~/pycram/devel/lib/pr2_arm_kinematics/pr2_arm_kinematics_node __name:=pr2_left_arm_kinematics __log:=~/.ros/log/ba5e95de-384f-11ee-ab53-97c8787037e5/pr2_left_arm_kinematics-3.log].
-   log file: ~/.ros/log/ba5e95de-384f-11ee-ab53-97c8787037e5/pr2_left_arm_kinematics-3*.log
-   pr2_arm_kinematics_node: error while loading shared libraries: libmoveit_kinematics_base.so.1.1.12: cannot open shared object file: No such file or directory
-   [pr2_right_arm_kinematics-4] process has died [pid 26863, exit code 127, cmd ~/pycram/devel/lib/pr2_arm_kinematics/pr2_arm_kinematics_node __name:=pr2_right_arm_kinematics __log:=~/.ros/log/ba5e95de-384f-11ee-ab53-97c8787037e5/pr2_right_arm_kinematics-4.log].
-   log file: ~/.ros/log/ba5e95de-384f-11ee-ab53-97c8787037e5/pr2_right_arm_kinematics-4*.log
-   IK server ready.
-
-
-Reinstall the missing libraries with
-
-.. code-block:: shell
-
-    sudo apt-get install ros-noetic-moveit
-
-Then rebuild your workspace.
-
-

package.xml

@@ -53,7 +53,10 @@
   <build_depend>geometry_msgs</build_depend>
   <exec_depend>geometry_msgs</exec_depend>
 
+  <exec_depend>pr2_arm_kinematics</exec_depend>
+  <exec_depend>moveit_kinematics</exec_depend>
 
+  <exec_depend>pr2_common</exec_depend>
 
   <!-- The export tag contains other, unspecified, tags -->
   <export>

pycram-https.rosinstall

@@ -11,15 +11,7 @@ repositories:
     type: git
     url: https://github.com/cram2/pycram.git
     version: dev
-  pr2_common:
-    type: git
-    url: https://@github.com/PR2/pr2_common.git
-    version: b34703bcca2b07cadbc3777d3c504c232a0c0c28
   kdl_ik_services:
     type: git
     url: https://github.com/cram2/kdl_ik_service.git
     version: master
-  pr2_kinematics:
-    type: git
-    url: https://github.com/PR2/pr2_kinematics.git
-    version: kinetic-devel

pycram.rosinstall

@@ -11,15 +11,7 @@ repositories:
     type: git
     url: [email protected]:cram2/pycram.git
     version: dev
-  pr2_common:
-    type: git
-    url: [email protected]:PR2/pr2_common.git
-    version: b34703bcca2b07cadbc3777d3c504c232a0c0c28
   kdl_ik_services:
     type: git
     url: [email protected]:cram2/kdl_ik_service.git
     version: master
-  pr2_kinematics:
-    type: git
-    url: [email protected]:PR2/pr2_kinematics.git
-    version: kinetic-devel

requirements.txt

@@ -1,15 +1,9 @@
 -r requirements-setuptools.txt
 gitpython>=3.1.37
 pycram_bullet==3.2.8
-rospkg~=1.4.0
-roslibpy~=1.2.1
-# rospy~=1.14.11
 pathlib~=1.0.1
 numpy==1.24.3
 pytransform3d~=1.9.1
-# tf~=1.12.1
-# actionlib~=1.12.1
-urdf-parser-py~=0.0.3
 graphviz
 anytree>=2.8.0
 SQLAlchemy>=2.0.9
@@ -18,7 +12,6 @@ psutil==5.9.7
 lxml==4.9.1
 typing_extensions==4.9.0
 owlready2>=0.45
-catkin_pkg
 Pillow>=10.3.0
 pynput~=1.7.7
 playsound~=1.3.0