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Ubuntu Xenial universal_robot driver for Raspberry Pi 3:

I managed to install ROS Indigo from source on Ubuntu Xenial (16.04) on Raspberry Pi 3 model B. (I foolowed this tutorial, ros-indigo-desktop variant) Here is the thing:

So I git cloned all those packeges to CATKIN_WORKSPACE/src and try to resolve my dependencies with rosdep (according to moveit.ros.org/install/source for ROS Indigo) so this is what I got:

ERROR: the following packages could not have their rosdep keys resolved to system dependencies:
moveit_core: No definition of [octomap_msgs] for OS version [xenial]
moveit_msgs: No definition of [object_recognition_msgs] for OS version [xenial]
moveit_planners_ompl: No definition of [ompl] for OS version [xenial]
moveit_ros_warehouse: No definition of [warehouse_ros] for OS version [xenial]
moveit_ros_manipulation: No definition of [manipulation_msgs] for OS version [xenial]
moveit_experimental: No definition of [octomap_msgs] for OS version [xenial]
ur_gazebo: No definition of [gazebo_ros_control] for OS version [xenial]
srdfdom: No definition of [urdfdom_py] for OS version [xenial]

Question: Is there any way I can make my ROS Indigo Xenial work with those packages ? Thanks.

Edited(19.01.2017):

The summarisation of Universal Robot report article is: use ros_control with speedj, it's most reliable any accurate method to manipulate with objects. I've tryed to control just with movej, movel, all effects (jerky stops behavior, singularity problems) as described in ur10 permormance analysis are taking place.

Summary: I want to use moveit with ros_control functionality. So I don't need gazebo, but I need everything else.

Edited(24.01.2017): My sources: 

$cat /etc/apt/sources.list:
deb http://ports.ubuntu.com/ xenial main restricted universe multiverse
deb-src http://ports.ubuntu.com/ xenial main restricted universe multiverse

The same for xenial-updates, xenial-security, xenial-backports.

Asked by Ilya Boyur on 2017-01-18 06:07:02 UTC

Comments

What am I explicitely doing: cd ~/ros_catkin_ws/src

rosdep install --from-paths . --ignore-src --rosdistro indigo -y

Asked by Ilya Boyur on 2017-01-18 06:16:01 UTC

Can you tell us which functionality it is specifically that you want to use? Just the driver, or also the Gazebo and MoveIt packages? The driver should definitely be doable, the rest is a bit more involved.

Asked by gvdhoorn on 2017-01-18 06:33:55 UTC

Also, as mentioned on the wiki page of universal_robot: for UR3s (with CB3 controllers and Polyscope versions >= 3.x), you should use the ur_modern_driver, not ur_driver.

Asked by gvdhoorn on 2017-01-18 06:34:38 UTC

My software version is 3.2.19293, so I am using ur_modern_driver, of course. There are dependency problems, maybe, because of moveit - does it support armhf platforms with ubuntu xenial? (Just love this dependency hell)

Asked by Ilya Boyur on 2017-01-19 10:39:52 UTC

You have made things really difficult for yourself: MoveIt can build on Ubuntu Xenial just fine, but it would be easier if you would have built ROS Kinetic, not ROS Indigo.

So ur_modern_driver works ok on your system? It's just MoveIt you need to build now?

Asked by gvdhoorn on 2017-01-19 15:51:36 UTC

Unless I'm misinterpreting things, it looks like status_page/ros_kinetic_uxhf.html?q=moveit shows that MoveIt has been released and built for Kinetic on armhf.

Asked by gvdhoorn on 2017-01-19 15:54:37 UTC

It also looks like MoveIt is being built for armhf on Indigo: status_page/ros_indigo_arm.html?q=moveit.

Asked by gvdhoorn on 2017-01-19 15:55:10 UTC

ur_modern_driver also has problems, because it depends on ur_msgs, which needs urdfdom_py package, so I can't use any of developed drivers. $sudo apt-get install ros-indigo-moveit

Unable to locate package ros-indigo-moveit.

$sudo apt-get install ros-indigo-ros-control

Unable to locate package ros

Asked by Ilya Boyur on 2017-01-24 04:02:12 UTC

It'd probably be easier to edit your original question, the comments are too small for these things.

re: ur_msgs needing urdfdom_py pkg: that seems strange to me? Or is that a transitive dependency? There is nothing in there that directly depends on it.

Asked by gvdhoorn on 2017-01-24 04:29:10 UTC

re: apt sources: if you don't have any ROS pkg repositories configured, you can't use apt-get to install ROS pkgs.

Asked by gvdhoorn on 2017-01-24 04:30:32 UTC

Nevertheless, I started to build my workspace to find out what the problem is. I've found missing dependencies for packages, is there any way I can download/resolve package WITH it's dependencies? Because downloading them one-by-one from source is tedious.

Asked by Ilya Boyur on 2017-01-24 11:01:22 UTC

Installing with dependencies is what apt-get (and other pkg mngrs) are for. Installing all dependencies for something you've checked out from sources would be rosdep's task, but seeing as you have such a non-standard setup that is difficult.

Asked by gvdhoorn on 2017-01-24 12:31:20 UTC

For setting up a fully populated tree of sources for pkgs, rosinstall_generator could be useful.

But it might be beneficial to invest some time into understanding whether or not you can use any of the binary distributions, as building from sources is ..

Asked by gvdhoorn on 2017-01-24 12:32:40 UTC

.. tedious, involved and error prone.

I'm not a raspberry pi expert, so perhaps there are other users that can help out here.

Asked by gvdhoorn on 2017-01-24 12:33:18 UTC

I managed to install some packages(srdfom), exept some moveit dependecies, such as OMPL, etc (described here: moveit dependencies from source So I didn't find the tutorial to install from source moveit dependencies for Indigo on Xenial

Asked by Ilya Boyur on 2017-02-13 07:13:16 UTC

Answers