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1 | initial version |
Hi even though, ROS NOETIC is not currently offered, it's possible to build it from source, with a bit of work. Please refer to this tutorial: https://github.com/robogeekcanada/pr2_noetic
Hope it helps.
2 | No.2 Revision |
Hi even though, ROS NOETIC is not currently offered, it's possible to build it from source, with a bit of work. Please refer to this tutorial: https://github.com/robogeekcanada/pr2_noetic
Added the steps based on @gvdhoom feedback:
Install Dependencies for SDformat:
Reference: http://sdformat.org/tutorials?tut=install
$ sudo apt-get install ruby-dev build-essential libtinyxml-dev libboost-all-dev cmake mercurial pkg-config
$ sudo apt-get install libignition-math4-dev
Building SDformat:
Reference: http://sdformat.org/
MAKE SURE TO BE IN THE HOME DIRECTORY
$ cd
$ mkdir ~/sdf_source
$ cd ~/sdf_source/
$ git clone https://github.com/osrf/sdformat
$ cd sdformat
$ git checkout sdf6
$ mkdir build
$ cd build
$ cmake .. -DCMAKE_INSTALL_PREFIX=/usr
$ make -j4
$ make install
If error, try $ sudo make install
Install ROS Convex Decomposition
Reference: http://wiki.ros.org/convex_decomposition
MAKE SURE TO BE IN THE HOME DIRECTORY
$ cd
$ mkdir convex_ws
$ cd convex_ws/
$ mkdir src
$ cd src/
$ git clone https://github.com/ros/convex_decomposition.git
$ cd ..
$ catkin_make
$ echo 'source ~/convex_ws/devel/setup.bash'>>~/.bashrc
$ source ~/.bashrc
Install ROS ivcon
Reference: http://wiki.ros.org/ivcon
MAKE SURE TO BE IN THE HOME DIRECTORY
$ cd
$ mkdir ivcon_ws
$ cd ivcon_ws/
$ mkdir src
$ cd src/
$ git clone https://github.com/ros/ivcon.git
$ cd ..
$ catkin_make
$ echo 'source ~/ivcon_ws/devel/setup.bash'>>~/.bashrc
$ source ~/.bashrc
Create workspace for PR2:
MAKE SURE TO BE IN THE HOME DIRECTORY
$ cd
$ mkdir pr2_ws
$ cd pr2_ws/
$ mkdir src
$ cd src/
$ git clone -b noetic-devel https://github.com/PR2/pr2_simulator.git
$ git clone https://github.com/PR2/pr2_mechanism.git
$ git clone https://github.com/PR2/pr2_common.git
$ git clone https://github.com/PR2/pr2_mechanism_msgs.git
$ cd ..
$ catkin_make
Compiling troubleshooting:
Reference:
https://github.com/PR2/pr2_simulator/pull/149/files/70f23b87056c0259686063d686497c6be1fba476#diff-f60537da2561b1f991e2535dc660c629dbb876df72e7930a289252b2bb030c75
Go to: pr2_gazebo_plugins/CMakeLists.txt
$ cd ~/pr2_ws/src/pr2_simulator/pr2_gazebo_plugins
$ gedit CMakeLists.txt
Remove red lines, add the green lines. Save and exit file, compile again,
$ cd ~/pr2_ws/
$ catkin_make
If compiling fails due to C++ version, modify CMakeLists.txt in ~/pr2_ws/src/
$ sudo gedit CMakeLists.txt
Add to CMakeLists.txt file as shown in picture below
set(CMAKE_CXX_STANDARD 17) set(CMAKE_CXX_STANDARD_REQUIRED ON) set(CMAKE_CXX_EXTENSIONS OFF)
Compile again:
$ cd ~/pr2_ws
$ catkin_make
When compiling is successful, then complete installation by:
$ echo 'source ~/pr2_ws/devel/setup.bash'>>~/.bashrc
$ source ~/.bashrc
Testing PR2 Simulator is working:
Reference: http://wiki.ros.org/pr2_simulator/Tutorials/StartingPR2Simulation
T1:
$ roscore
T2
$ roslaunch gazebo_ros empty_world.launch
T3
$ roslaunch pr2_gazebo pr2.launch
HAPPY CODING!!
Hope it helps.
3 | No.3 Revision |
Hi even though, ROS NOETIC is not currently offered, it's possible to build it from source, with a bit of work. Please refer to this tutorial: https://github.com/robogeekcanada/pr2_noetic
Added the steps based on @gvdhoom feedback:
Install Dependencies for SDformat:
Reference: http://sdformat.org/tutorials?tut=install
$ sudo apt-get install ruby-dev build-essential libtinyxml-dev libboost-all-dev cmake mercurial pkg-config
$ sudo apt-get install libignition-math4-dev
Building SDformat:
Reference: http://sdformat.org/
MAKE SURE TO BE IN THE HOME DIRECTORY
$ cd
$ mkdir ~/sdf_source
$ cd ~/sdf_source/
$ git clone https://github.com/osrf/sdformat
$ cd sdformat
$ git checkout sdf6
$ mkdir build
$ cd build
$ cmake .. -DCMAKE_INSTALL_PREFIX=/usr
$ make -j4
$ make install
If error, try $ sudo make install
Install ROS Convex Decomposition
Reference: http://wiki.ros.org/convex_decomposition
MAKE SURE TO BE IN THE HOME DIRECTORY
$ cd
$ mkdir convex_ws
$ cd convex_ws/
$ mkdir src
$ cd src/
$ git clone https://github.com/ros/convex_decomposition.git
$ cd ..
$ catkin_make
$ echo 'source ~/convex_ws/devel/setup.bash'>>~/.bashrc
$ source ~/.bashrc
Install ROS ivcon
Reference: http://wiki.ros.org/ivcon
MAKE SURE TO BE IN THE HOME DIRECTORY
$ cd
$ mkdir ivcon_ws
$ cd ivcon_ws/
$ mkdir src
$ cd src/
$ git clone https://github.com/ros/ivcon.git
$ cd ..
$ catkin_make
$ echo 'source ~/ivcon_ws/devel/setup.bash'>>~/.bashrc
$ source ~/.bashrc
Create workspace for PR2:
MAKE SURE TO BE IN THE HOME DIRECTORY
$ cd
$ mkdir pr2_ws
$ cd pr2_ws/
$ mkdir src
$ cd src/
$ git clone -b noetic-devel https://github.com/PR2/pr2_simulator.git
$ git clone https://github.com/PR2/pr2_mechanism.git
$ git clone https://github.com/PR2/pr2_common.git
$ git clone https://github.com/PR2/pr2_mechanism_msgs.git
$ cd ..
$ catkin_make
Compiling troubleshooting:
Reference:
https://github.com/PR2/pr2_simulator/pull/149/files/70f23b87056c0259686063d686497c6be1fba476#diff-f60537da2561b1f991e2535dc660c629dbb876df72e7930a289252b2bb030c75
Go to: pr2_gazebo_plugins/CMakeLists.txt
$ cd ~/pr2_ws/src/pr2_simulator/pr2_gazebo_plugins
$ gedit CMakeLists.txt
Remove red lines, add the green lines. Save and exit file, compile again,
$ cd ~/pr2_ws/
$ catkin_make
If compiling fails due to C++ version, modify CMakeLists.txt in ~/pr2_ws/src/
$ sudo gedit CMakeLists.txt
Add to CMakeLists.txt file as shown in picture below
set(CMAKE_CXX_STANDARD 17) set(CMAKE_CXX_STANDARD_REQUIRED ON) set(CMAKE_CXX_EXTENSIONS OFF)
Compile again:
$ cd ~/pr2_ws
$ catkin_make
When compiling is successful, then complete installation by:
$ echo 'source ~/pr2_ws/devel/setup.bash'>>~/.bashrc
$ source ~/.bashrc
Testing PR2 Simulator is working:
Reference: http://wiki.ros.org/pr2_simulator/Tutorials/StartingPR2Simulation
T1:
$ roscore
T2
$ roslaunch gazebo_ros empty_world.launch
T3
$ roslaunch pr2_gazebo pr2.launch
HAPPY CODING!!
Hope it helps.
4 | No.4 Revision |
Hi even though, ROS NOETIC is not currently offered, it's possible to build it from source, with a bit of work. Please refer to this tutorial: https://github.com/robogeekcanada/pr2_noetic
Added the steps based on @gvdhoom feedback:
Install Dependencies for SDformat:
Reference: http://sdformat.org/tutorials?tut=install
$ sudo apt-get install ruby-dev build-essential libtinyxml-dev libboost-all-dev cmake mercurial pkg-config
$ sudo apt-get install libignition-math4-dev
Building SDformat:
Reference: http://sdformat.org/
MAKE SURE TO BE IN THE HOME DIRECTORY
$ cd
$ mkdir ~/sdf_source
$ cd ~/sdf_source/
$ git clone https://github.com/osrf/sdformat
$ cd sdformat
$ git checkout sdf6
$ mkdir build
$ cd build
$ cmake .. -DCMAKE_INSTALL_PREFIX=/usr
$ make -j4
$ make install
If error, try $ sudo make install
Install ROS Convex Decomposition
Reference: http://wiki.ros.org/convex_decomposition
MAKE SURE TO BE IN THE HOME DIRECTORY
$ cd
$ mkdir convex_ws
$ cd convex_ws/
$ mkdir src
$ cd src/
$ git clone https://github.com/ros/convex_decomposition.git
$ cd ..
$ catkin_make
$ echo 'source ~/convex_ws/devel/setup.bash'>>~/.bashrc
$ source ~/.bashrc
Install ROS ivcon
Reference: http://wiki.ros.org/ivcon
MAKE SURE TO BE IN THE HOME DIRECTORY
$ cd
$ mkdir ivcon_ws
$ cd ivcon_ws/
$ mkdir src
$ cd src/
$ git clone https://github.com/ros/ivcon.git
$ cd ..
$ catkin_make
$ echo 'source ~/ivcon_ws/devel/setup.bash'>>~/.bashrc
$ source ~/.bashrc
Create workspace for PR2:
MAKE SURE TO BE IN THE HOME DIRECTORY
$ cd
$ mkdir pr2_ws
$ cd pr2_ws/
$ mkdir src
$ cd src/
$ git clone -b noetic-devel https://github.com/PR2/pr2_simulator.git
$ git clone https://github.com/PR2/pr2_mechanism.git
$ git clone https://github.com/PR2/pr2_common.git
$ git clone https://github.com/PR2/pr2_mechanism_msgs.git
$ cd ..
$ catkin_make
Compiling troubleshooting:
If error with sdformat, we will need to make changes to CMakeLists.txt file in pr2_gazebo_plugins/
Reference: https://github.com/PR2/pr2_simulator/pull/149/files/70f23b87056c0259686063d686497c6be1fba476#diff-f60537da2561b1f991e2535dc660c629dbb876df72e7930a289252b2bb030c75
Go to: pr2_gazebo_plugins/CMakeLists.txt
$ cd ~/pr2_ws/src/pr2_simulator/pr2_gazebo_plugins
$ gedit CMakeLists.txt
Remove red lines, add the green lines. Save and exit file, compile again,
$ cd ~/pr2_ws/
$ catkin_make
If compiling fails due to C++ version, modify CMakeLists.txt in ~/pr2_ws/src/
$ sudo gedit CMakeLists.txt
Add to CMakeLists.txt file as shown in picture below
set(CMAKE_CXX_STANDARD 17)
17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
ON)
set(CMAKE_CXX_EXTENSIONS OFF)
Compile again:
$ cd ~/pr2_ws
$ catkin_make
When compiling is successful, then complete installation by:
$ echo 'source ~/pr2_ws/devel/setup.bash'>>~/.bashrc
$ source ~/.bashrc
Testing PR2 Simulator is working:
Reference: http://wiki.ros.org/pr2_simulator/Tutorials/StartingPR2Simulation
T1:
$ roscore
T2
$ roslaunch gazebo_ros empty_world.launch
T3
$ roslaunch pr2_gazebo pr2.launch
HAPPY CODING!!
Hope it helps.