From 12b8e412e6cd01a5484c597f50504044432b8d07 Mon Sep 17 00:00:00 2001 From: "Felix Exner (fexner)" Date: Sat, 5 Oct 2024 10:21:31 +0200 Subject: [PATCH 1/2] Update branch of support repo for noetic (#724) * Update branch of support repo for noetic * Add ur_msgs to noetic upstream workspace * Update installation instructions on README --- .noetic.rosinstall | 6 +++++- README.md | 16 +++++++++++----- 2 files changed, 16 insertions(+), 6 deletions(-) diff --git a/.noetic.rosinstall b/.noetic.rosinstall index 14f25484c..b51c5fc10 100644 --- a/.noetic.rosinstall +++ b/.noetic.rosinstall @@ -1,4 +1,8 @@ - git: uri: https://github.com/ros-industrial/universal_robot.git local-name: universal_robot - version: melodic-devel + version: noetic-devel +- git: + uri: https://github.com/ros-industrial/ur_msgs.git + local-name: ur_msgs + version: noetic-devel diff --git a/README.md b/README.md index e57d30e98..9691be6e8 100644 --- a/README.md +++ b/README.md @@ -125,11 +125,16 @@ $ mkdir -p catkin_ws/src && cd catkin_ws # clone the driver $ git clone https://github.com/UniversalRobots/Universal_Robots_ROS_Driver.git src/Universal_Robots_ROS_Driver -# clone the description. Currently, it is necessary to use the melodic-devel branch. -$ git clone -b melodic-devel https://github.com/ros-industrial/universal_robot.git src/universal_robot +# Install vcstool +$ sudo apt update -qq +$ sudo apt install python3-vcstool + +# clone the direct dependencies. As the latest version might require the latest upstream version, +# we'll build things from source. Note: This does not include the client library. If there are API +# changes there, you might have to use the all-source build as explained below. +$ vcs import --input src/Universal_Robots_ROS_Driver/.noetic.rosinstall src # install dependencies -$ sudo apt update -qq $ rosdep update $ rosdep install --from-paths src --ignore-src -y @@ -149,9 +154,10 @@ build`](https://catkin-tools.readthedocs.io/en/latest/verbs/catkin_build.html). $ source /opt/ros//setup.bash $ mkdir -p catkin_ws/src && cd catkin_ws $ git clone https://github.com/UniversalRobots/Universal_Robots_Client_Library.git src/Universal_Robots_Client_Library -$ git clone https://github.com/UniversalRobots/Universal_Robots_ROS_Driver.git src/Universal_Robots_ROS_Driver -$ git clone -b melodic-devel https://github.com/ros-industrial/universal_robot.git src/universal_robot $ sudo apt update -qq +$ sudo apt install python3-vcstool +$ vcs import --input src/Universal_Robots_ROS_Driver/.noetic.rosinstall src +$ git clone https://github.com/UniversalRobots/Universal_Robots_ROS_Driver.git src/Universal_Robots_ROS_Driver $ rosdep update $ rosdep install --from-paths src --ignore-src -y $ catkin_make_isolated From 82b678eda19200a397f9767395efb0c07511c1ff Mon Sep 17 00:00:00 2001 From: "Felix Exner (fexner)" Date: Sat, 5 Oct 2024 10:34:18 +0200 Subject: [PATCH 2/2] Add ur_calibration to installation instructions (#728) Since there is no direct dependency from the driver to the calibration package (It only needs a valid calibration file to work), the calibration package isn't automatically installed with the driver. Hence, we should add it to the installation instructions. --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index 9691be6e8..fbf14b095 100644 --- a/README.md +++ b/README.md @@ -103,7 +103,7 @@ noetic. If you want to use a UR robot arm with ROS 2, please see the [ROS 2 driver](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/). 2. Install the driver using ```bash -sudo apt install ros-${ROS_DISTRO}-ur-robot-driver +sudo apt install ros-${ROS_DISTRO}-ur-robot-driver ros-${ROS_DISTRO}-ur-calibration ``` ## Building from source