Intallation

Installation instructions

The following section will explain the required steps to bring the project to work.

Initially this repository support ROS Kinetic and newer distributions.

Prerequisites

• ROS Kinetic: For obtaining and configuring ROS follow the installation instructions for full-desktop kinetic installation.
• Catkin workspace: If you don't have a workspace already configured follow this instructions to create one (it is recommended to create it in a directory where you have full access permissions).

Required Repositories

Clone this and the following repositories in your catkin workspace:

• Motoman packages - Kinetic Devel
• Motoman experimental - motoman_csda10f_support (Only the motoman_csda10f_support package is required, after cloning delete all other packages of this repo).
• Betha-Robots
• Robotiq (After cloning remove the robotiq_force_torque_sensor package and robotiq_s_...gazebo packages)

For most of this repositories installation through apt-get or synaptic is not possible

Dependencies

Run the following commands on your terminal:

# Install third party dependencies
sudo apt-get update
sudo apt-get install libmodbus-dev ros-kinetic-soem ros-kinetic-controller-manager ros-kinetic-socketcan-interface ros-kinetic-joint-limits-interface ros-kinetic-trac-ik-kinematics-plugin
# Move to root of workspace
cd [path_to_your_catkin_package]
# Install all dependencies of packages in workspace
rosdep install --from-paths src --ignore-src -r -y
# Build your workspace
catkin_make
source devel/setup.bash

Build catkin workspace

To check that all dependencies were installed, type the following commands on your terminal.

# Move to root of workspace
cd [path_to_your_catkin_package]
# Build catkin workspace, this will compile all node files and check for dependencies errors
catkin_make

Once the workspace build process is completed you are ready to start playing...have fun.

Install missing dependencies

If the catkin build fail, it occurs usually to missing package dependencies or missing third party (non-ros) packages. When this occurs the build log in the terminal indicates the name of the package dependency that it is missing, then try:

sudo apt-get update ros-kinetic-[package-name]
# separate the package name words with a '-'

If package is not found it is probably a third party dependency, google the name of the package and search for installation instructions :s.

Recommendations

IDE - Integrated Developing Environment

It is strongly recommended to use an IDE to edit and manage the Catkin workspace and all ROS related files, there are several IDS's available that work properly with ROS, you can select the one you want, but we recommend to use RoboWare Studio since it is an free and specifically design for ROS application development.

Note: That you can use multiple IDS's