diff --git a/binder/README.md b/binder/README.md index b10281a0b..d9d6ece00 100644 --- a/binder/README.md +++ b/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() ``` - - - - - - - - - - - - diff --git a/binder/pycram-http.rosinstall b/binder/pycram-http.rosinstall index 4ad9ec467..15a9e5238 100644 --- a/binder/pycram-http.rosinstall +++ b/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 diff --git a/doc/source/installation.rst b/doc/source/installation.rst index 4a6f57e73..a36b3f00a 100644 --- a/doc/source/installation.rst +++ b/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 =========================== diff --git a/doc/source/remarks.rst b/doc/source/remarks.rst index 452f54313..0debe0d8a 100644 --- a/doc/source/remarks.rst +++ b/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. diff --git a/doc/source/troubleshooting.rst b/doc/source/troubleshooting.rst index f14b4abce..768818778 100644 --- a/doc/source/troubleshooting.rst +++ b/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. - - diff --git a/package.xml b/package.xml index f3b332d63..b13066606 100644 --- a/package.xml +++ b/package.xml @@ -53,7 +53,10 @@ geometry_msgs geometry_msgs + pr2_arm_kinematics + moveit_kinematics + pr2_common diff --git a/pycram-https.rosinstall b/pycram-https.rosinstall index 64bbf0430..94d873ea8 100644 --- a/pycram-https.rosinstall +++ b/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 diff --git a/pycram.rosinstall b/pycram.rosinstall index ccbb0cd22..8628e2c22 100644 --- a/pycram.rosinstall +++ b/pycram.rosinstall @@ -11,15 +11,7 @@ repositories: type: git url: git@github.com:cram2/pycram.git version: dev - pr2_common: - type: git - url: git@github.com:PR2/pr2_common.git - version: b34703bcca2b07cadbc3777d3c504c232a0c0c28 kdl_ik_services: type: git url: git@github.com:cram2/kdl_ik_service.git version: master - pr2_kinematics: - type: git - url: git@github.com:PR2/pr2_kinematics.git - version: kinetic-devel diff --git a/requirements.txt b/requirements.txt index 0276c54ab..d4a612b1d 100644 --- a/requirements.txt +++ b/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