uos-ros-pkg

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ROS packages from the Knowledge-Based Systems group at the University of Osnabrück.

We are actively developing most of these packages. If you use our packages and have any comments/bug reports/patches, we'd be happy to hear from you!

Make sure to select the ROS distro you're using with the buttons above.

Installation

Prerequisites

TL;DR: Make sure you have those dependencies that are already released as Ubuntu packages installed on your machine.

On our development machines, we have the following setup:

Ubuntu 12.04 (Precise)
Fuerte / Groovy / Hydro (see compatibility matrix below)
ROS Ubuntu packages installed by default on our machines:

Fuerte:

ros-fuerte-camera-umd
ros-fuerte-desktop-full
ros-fuerte-joystick-drivers
ros-fuerte-laser-drivers
ros-fuerte-move-arm
ros-fuerte-object-manipulation
ros-fuerte-openni-kinect
ros-fuerte-pr2-object-manipulation
ros-fuerte-robot-model-py

Hydro:

ros-hydro-audio-common
ros-hydro-cmake-modules
ros-hydro-convex-decomposition
ros-hydro-desktop-full
ros-hydro-gazebo-ros-control
ros-hydro-ivcon
ros-hydro-joystick-drivers
ros-hydro-libuvc-ros
ros-hydro-moveit-full
ros-hydro-object-recognition-capture
ros-hydro-object-recognition-ros
ros-hydro-object-recognition-tabletop
ros-hydro-openni-launch
ros-hydro-openni2-launch
ros-hydro-pr2-controllers
ros-hydro-python-orocos-kdl
ros-hydro-ros-control
ros-hydro-ros-controllers
ros-hydro-sicktoolbox-wrapper
ros-hydro-slam-gmapping
ros-hydro-sound-play
ros-hydro-urdfdom-py

If you install all of these, you'll have everything needed to compile our stacks. On the other hand, you will also get a lot more than strictly necessary, so if you have tight disk space requirements, you can instead hunt down missing dependencies one by one and only install those Ubuntu packages which are absolutely necessary.

Just for debugging information: tested using gcc version 4.6.4, although we never had a problem compiling with earlier versions.

Installing uos-ros-pkg

The easiest way to install uos-ros-pkg and all dependencies is to run the following commands:

Fuerte

rosws init ~/ros-fuerte /opt/ros/fuerte   # replace ros-fuerte by wherever you want your ROS Fuerte code; should not exist yet
empty
cd ~/ros-fuerte
rosws init
. setup.bash
rosws merge https://raw.githubusercontent.com/uos/uos_rosinstalls/master/uos-public-fuerte.rosinstall
rosws update
. setup.bash
rosdep update
rosdep install diffdrive_gazebo_plugin katana_driver katana_manipulation \
          kurtana_robot kurt_navigation kurt_driver sick_tim uos_slam uos_tools
(cd overlays && rosmake *)
(cd uos-ros-pkg && rosmake *)

Groovy

Didn't get around to writing this section yet. See https://github.com/uos/uos_rosinstalls/blob/master/uos-public-groovy.rosinstall .

Hydro

# create catkin workspace:
. /opt/ros/hydro/setup.bash
mkdir -p ~/ros-hydro/wet/src/
cd ~/ros-hydro/wet/src/
wstool init
wstool merge https://raw.githubusercontent.com/uos/uos_rosinstalls/master/uos-public-hydro-wet.rosinstall
wstool update
catkin_init_workspace
cd ..
catkin_make
. ~/ros-hydro/wet/devel/setup.bash

# create rosbuild workspace:
mkdir ~/ros-hydro/dry
cd ~/ros-hydro/dry
rosws init . ~/ros-hydro/wet/devel
. ~/ros-hydro/dry/setup.bash
rosws merge https://raw.githubusercontent.com/uos/uos_rosinstalls/master/uos-public-hydro-dry.rosinstall
rosws update

# install dependencies
rosdep update
rosdep install diffdrive_gazebo_plugin katana_driver kurt3d kurt_driver kurt_navigation sick_tim uos_slam uos_tools volksbot_driver

# link one package that's already catkinized to the wet workspace
cd ~/ros-hydro/wet/
ln -s ~/ros-hydro/dry/uos-ros-pkg/katana_driver/katana_moveit_ikfast_plugin/ src/
catkin_make

# build the dry workspace
cd ~/ros-hydro/dry
. setup.bash
rosmake -a

# make sure the correct setup.bash is sourced in each new shell
echo ". ~/ros-hydro/dry/setup.bash" >> ~/.bashrc

Indigo

# create catkin workspace
. /opt/ros/indigo/setup.bash
mkdir -p ~/ros-indigo/src/
cd ~/ros-indigo/src/
wstool init
wstool merge https://raw.githubusercontent.com/uos/uos_rosinstalls/master/uos-public-indigo-wet.rosinstall
wstool update

# install dependencies
rosdep update
rosdep install --from-paths ./ -i -y --rosdistro indigo

# build all packages
catkin_init_workspace
cd ..
catkin_make
. ~/ros-indigo/devel/setup.bash

# make sure the correct setup.bash is sourced in each new shell
echo ". ~/ros-indigo/devel/setup.bash" >> ~/.bashrc

ROS Release Compatibility

The stacks have been tested with the following ROS releases:

	diamondback	electric	fuerte	groovy	hydro	indigo
basler_tof	---	---	---	---	---	`indigo`
calvin_robot	---	---	`fuerte`	---	`hydro`	`indigo`
diffdrive_gazebo_plugin	`diamondback`	`electric`	`fuerte`	`groovy`	`hydro`	`indigo`
katana_driver	`diamondback`	`electric`	`fuerte`	`groovy`	`hydro`	`indigo`
katana_manipulation	`diamondback`	---	`fuerte`	`groovy_transition`	---	---
kurtana_robot	`diamondback`	---	`fuerte`	`groovy_transition`	---	---
kurt3d	---	---	---	---	`hydro`	`indigo`
kurt_driver	`diamondback`	`electric`	`fuerte`	`groovy`	`hydro`	`indigo`
kurt_navigation	`diamondback`	`electric`	`fuerte`	`groovy`	`hydro`	`indigo`
rviz_fps_plugin	---	---	---	---	`hydro`	`indigo`
sick_tim	`diamondback`	`electric`	`fuerte`	`groovy`	`hydro`	`indigo`
slam6d_exporter	---	---	---	---	---	`indigo_catkin`
uos_rotunit	---	---	---	---	`hydro`	`indigo`
uos_slam	`diamondback`	`electric`	`fuerte`	`groovy`	`hydro`	`indigo`
uos_tools	`diamondback`	`electric`	`fuerte`	`groovy`	`hydro`	`indigo`
volksbot_driver	???	???	`master`	`master`	`hydro`	`indigo`

How to read this table:

"---" = not supported (yet)
"???" = not tested (if you test it and it works, send us a mail)
"diamondback" / "..." = supported by branch named diamondback/...