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pr2 cannot install pr2_robot

asked 2018-03-12 12:37:37 -0500

CodyLL gravatar image

updated 2018-03-12 12:55:17 -0500

gvdhoorn gravatar image

While debugging audio drivers on the pr2 robot the package pr2_robot was unintentionally uninstalled. I cannot seem to install ros-indigo-pr2-robot again. pr2_robot is also a dependency for pr2-core which needs to be reinstalled.

I followed the instructions here.
http://www.clearpathrobotics.com/asse...
and here
http://www.clearpathrobotics.com/asse...

The problem being the prior Clearpath server is no longer available as far as I can tell

http://clearpathrobotics.com/pr2-pack...
ec2-52-37-150-147.us-west-2.compute.amazonaws.com/ http://ec2-52-37-150-147.us-west-2.compute.amazonaws.com/

I emailed Clearpath for a replacement location and they replied with this url

http://52.35.195.135/   
http://ec2-52-35-195-135.us-west-2.compute.amazonaws.com/

I tired to get the key via this command

sudo wget http://ec2-52-35-195-135.us-west-2.compute.amazonaws.com/ubuntu/pr2packages.gpg | sudo apt-key add

and then updated my source list to look like this

deb http://ec2-52-35-195-135.us-west-2.compute.amazonaws.com/ubuntu trusty pr2  
deb http://ec2-52-35-195-135.us-west-2.compute.amazonaws.com/ubuntu trusty main

This includes many of the pr2 debs but does not include the install for ros-indigo-pr2-robot.
I still get this result

sudo apt-get update

sudo apt-get install  ros-indigo-pr2-robot
Reading package lists... Done
Building dependency tree       
Reading state information... Done
Package ros-indigo-pr2-robot is not available, but is referred to by another package.
This may mean that the package is missing, has been obsoleted, or
is only available from another source

E: Package 'ros-indigo-pr2-robot' has no installation candidate

Is there anther location I am missing that needs to be added to my source lists or a way to manually install ros-indigo-pr2-robot so that pr2-core can be installed?

Please let me know any additional information that may help.
Thanks for any assistance.

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answered 2018-03-15 18:00:41 -0500

CodyLL gravatar image

Although I would not call it the cleanest solution I did manage to get the pr2 working again. As I could not find a proper install method for ros-indigo-pr2_robot and the install did not actually contain much I used the program equivs to trick apt into thinking it was installed to fulfill the dependency of other packages I needed to install. I used this method
https://unix.stackexchange.com/questi...

These are the exact commands

$ sudo apt-get install equivs
$ mkdir equivs_test
$ cd equivs_test/
$ equivs-control ros-indigo-pr2-robot.control
$ nano ros-indigo-pr2-robot.control
the primary line changed was package: ros-indigo-pr2-robot
$ equivs-build ros-indigo-pr2-robot.control
$ sudo dpkg -i ros-indigo-pr2-robot_1.0_all.deb
$ sudo apt-get install ros-indigo-pr2-robot
states newest version is already installed as I hoped

I then installed the main pr2 packages in a somewhat random order

$ sudo apt-get install pr2-installer
$ sudo apt-get install pr2-chrony pr2-ckill pr2-core pr2-core-indigo pr2-environment pr2-ft pr2-iptables.d pr2-net* pr2-nuc-ssh pr2-sys* pr2-users pr2-webui

pr2-webui would not install. I saved the original output of these commands if anyone is interested.

I can now run the command robot start and the robot is beeping on boot unlike before but c2 is not booting correctly by default. I can get c2 to boot correctly by starting the robot and letting c2 boot into the clearpath OS then running the service dnsmasq manually on c1.

$ sudo service dnsmasq stop
$ sudo dnsmasq -d # -d is optional to see debug info

When dnsmasq is running on c1 simply reboot the clearpath OS on c2 using a monitor and keyboard and it will netboot correctly from c1. robot start is now successful on c1.

I set the service dnsmasq to run on startup on c1. I do not know if this was necessary or even a good thing to do but it did not solve the problem. I am including it here simple for debugging and records.

$ sudo update-rc.d dnsmasq defaults
$ sudo update-rc.d dnsmasq enable
update-rc.d: warning: start runlevel arguments (none) do not match dnsmasq Default-Start values (2 3 4 5)
update-rc.d: warning: stop runlevel arguments (none) do not match dnsmasq Default-Stop values (0 1 6)
Enabling system startup links for /etc/init.d/dnsmasq ...
Removing any system startup links for /etc/init.d/dnsmasq ...
/etc/rc0.d/K01dnsmasq
/etc/rc1.d/K01dnsmasq
/etc/rc2.d/S99dnsmasq
/etc/rc3.d/S99dnsmasq
/etc/rc4.d/S99dnsmasq
/etc/rc5.d/S99dnsmasq
/etc/rc6.d/K01dnsmasq
Adding system startup for /etc/init.d/dnsmasq ...
/etc/rc0.d/K01dnsmasq -> ../init.d/dnsmasq
/etc/rc1.d/K01dnsmasq -> ../init.d/dnsmasq
/etc/rc6.d/K01dnsmasq -> ../init.d/dnsmasq
/etc/rc2.d/S99dnsmasq -> ../init.d/dnsmasq
/etc/rc3.d/S99dnsmasq -> ../init.d/dnsmasq
/etc/rc4.d/S99dnsmasq -> ../init.d/dnsmasq
/etc/rc5.d/S99dnsmasq -> ../init.d/dnsmasq

I then found this to help debug dnsmasq on the pr2
https://github.com/hcrlab/wiki/commit...
After making these changes to /etc/dnsmasq.conf the pr2 boots and calibrates correctly. Multiple demos have also been run successfully without any additional problems.

If anyone finds a ... (more)

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Asked: 2018-03-12 12:37:37 -0500

Seen: 119 times

Last updated: Mar 15 '18