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PR2 packages for Kinetic -- Run PR2 (Simulator) in ROS Version Kinetic Kame

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PR2 Packages for ROS Kinetic Kame

Yilong Li

This is a catkin workspace for PR2 packages which can be run on ROS version Kinetic Kame.

Installation and Usage

Step 0. Clone this repository with all the submodules:

   git clone --recursive https://github.com/gnoliyil/pr2_kinetic_packages.git

Step 1. Install dependency packages: ros-kinetic-pr2-common ros-kinetic-pr2-description ros-kinetic-pr2-machine ros-kinetic-pr2-msgs and ros-kinetic-moveit are required; Download EML(EtherCAT Master for Linux) from this repository (in release/hydro/eml branch) and run (do not run in the catkin workspace)

    $ mkdir build
    $ cd build
    $ cmake ..; make; sudo make install 

to install the EML library.

Step 2. Build all packages.

    $ catkin_make

It may prompt that some service headers are not found, if this occurs, please use the following command to compile only the required package, then run catkin_make again.

For example, if it prompts

/home/gnoliyil/Work/catkin-ws/src/pr2_teleop/src/teleop_gripper.cpp:32:52: fatal error: pr2_controllers_msgs/Pr2GripperCommand.h: No such file or directory
/home/gnoliyil/Work/catkin-ws/src/pr2_teleop/src/teleop_pr2.cpp:44:65: fatal error: pr2_controllers_msgs/JointTrajectoryControllerState.h: No such file or directory
compilation terminated.
/home/gnoliyil/Work/catkin-ws/src/pr2_run_stop_auto_restart/src/run_stop_auto_restart.cpp:33:47: fatal error: pr2_power_board/PowerBoardCommand.h: No such file or directory

Just run

    $ catkin_make --pkg pr2_controllers_msgs pr2_power_board

Then run $ catkin_make again.

If you see the error message like

CMake Error at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
  Could not find a package configuration file provided by "moveit_msgs" with
  any of the following names:

    moveit_msgsConfig.cmake
    moveit_msgs-config.cmake

It means you need to install other dependency packages from apt-get (ros-kinetic-moveit-msgs in the example above)

Step 3. Set environment variables using source devel/setup.sh. Please add it in your .bashrc file.

Packages

These packages are included:

Notes

  1. Add a RobotState::RobotState() constructor (though should never be called) for compatibility with new version of hardware_interface.

  2. Add pr2_controllers_msgs to dependency lists of joint_trajectory_generator (both in CMakeLists.txt and packages.xml)

  3. Use jade-devel branch of moveit_msgs rather than kinetic-devel, since the latter one removes GetKinematicSolverInfo.srv, which is required by pr2 package pr2_teleop.

  4. Add pr2_base model, which only includes base and torso of PR2 robot.