Ubuntu Xenial universal_robot driver for Raspberry Pi 3:

asked 2017-01-18 05:07:02 -0500

Ilya Boyur gravatar image

updated 2017-01-24 11:11:44 -0500

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:

  • want to try universal_tobot driver, cause I have got UR3.
  • I have got it git cloned in my CATKIN_WORKSPACE/src folder.
  • Also it has build+run depedencies on ros_control and moveit packages

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.

edit retag flag offensive close merge delete

Comments

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

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

Ilya Boyur gravatar imageIlya Boyur ( 2017-01-18 05:16:01 -0500 )edit

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.

gvdhoorn gravatar imagegvdhoorn ( 2017-01-18 05:33:55 -0500 )edit

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.

gvdhoorn gravatar imagegvdhoorn ( 2017-01-18 05:34:38 -0500 )edit

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)

Ilya Boyur gravatar imageIlya Boyur ( 2017-01-19 09:39:52 -0500 )edit

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?

gvdhoorn gravatar imagegvdhoorn ( 2017-01-19 14:51:36 -0500 )edit

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.

gvdhoorn gravatar imagegvdhoorn ( 2017-01-19 14:54:37 -0500 )edit

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

gvdhoorn gravatar imagegvdhoorn ( 2017-01-19 14:55:10 -0500 )edit

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

Ilya Boyur gravatar imageIlya Boyur ( 2017-01-24 03:02:12 -0500 )edit