cmhe's profile - activity

I solved it myself. Here are my notes as to what I did. Maybe that will help someone in the future:

# Guide to get all moveit dependencies installed on raspbian jessie.
# Install ros as described here: wiki.ros.org/ROSberryPi/Installing%20ROS%20Indigo%20on%20Raspberry%20Pi
# Install moveit as described here: http://moveit.ros.org/install/#collapseFour
# This manual describes how to get the line: "rosdep install --from-paths src --ignore-src --rosdistro indigo -y" to work.

# Increase swap size:
$ sudo sed -i -e "s/CONF_SWAPSIZE=100/CONF_SWAPSIZE=1024/" /etc/dphys-swapfile
$ sudo reboot

$ cat /etc/apt/sources.list
deb http://mirrordirector.raspbian.org/raspbian/ jessie main contrib non-free rpi
# Uncomment line below then 'apt-get update' to enable 'apt-get source'
#deb-src http://archive.raspbian.org/raspbian/ jessie main contrib non-free rpi
#deb-src http://mirrordirector.raspbian.org/raspbian/ testing main contrib non-free rpi

$ cat /etc/apt/sources.list.d/ros-latest.list 
deb http://packages.ros.org/ros/ubuntu jessie main
deb http://packages.ros.org/ros/ubuntu trusty main
deb-src http://packages.ros.org/ros/ubuntu trusty main
deb-src http://archive.ubuntu.com/ubuntu/ trusty main universe multiverse restricted

# Lower priority for ubuntu packages
$ cat /etc/apt/preferences.d/ros-trusty 
Package: *
Pin: release o=ROS,a=trusty
Pin-Priority: 50

# Get 0.2 version of urdfdom from ubuntu source repo. Specify exact available version or deactivate deb-src from jessie beforehand
$ apt-get source -b 'urdfdom'
$ sudo dpkg -i liburdfdom0.2-dbg_0.2.10+dfsg-1_armhf.deb liburdfdom-dev_0.2.10+dfsg-1_armhf.deb liburdfdom-model0.2_0.2.10+dfsg-1_armhf.deb liburdfdom-model-state0.2_0.2.10+dfsg-1_armhf.deb liburdfdom-sensor0.2_0.2.10+dfsg-1_armhf.deb liburdfdom-tools_0.2.10+dfsg-1_armhf.deb liburdfdom-world0.2_0.2.10+dfsg-1_armhf.deb

# ros-indigo-pluginlib searches for 'liblog4cxx.so' in '/usr/lib'
# liblog4cxx10-dev is installed
sudo ln -s /usr/lib/arm-linux-gnueabihf/liblog4cxx.so /usr/lib/liblog4cxx.so

# Install all dependencies as ubuntu:trusty (in moveit directory)
$ rosdep install --from-paths src --ignore-src --rosdistro indigo -y --os=ubuntu:trusty

# Now we have installed every package required by moveit, but they are compiled for ubuntu trusty.
# Everything might work for raspbian jessie (debian jessie) too, but to be sure, I compiled every package myself in the next steps.

# Find all installed packages from trusty, that are not in jessie.
$ aptitude search -F '%p' '?narrow(?installed,?narrow(?archive(trusty),?not(?archive(jessie))))' > trusty-packages
# Remove all trusty packages:
$ cat trusty-packages | xargs sudo apt-get remove --purge -y

# Install build dependencies, that are not already mentioned in trusty-packages (and don't start with "ros-"):
$ sudo apt-get install libcppunit-dev libmongo-client-dev

# Install python module for sorting package dep order
$ sudo apt-get install python-toposort

# Small python script to order the packages with their dependencies:
$ cat depsort.py
#!/usr/bin/python2
import sys
from toposort import toposort_flatten
graph={}
for line in sys.stdin:
    if len(line.split()) == 2:
        a,b = line.split()[0], line.split()[1]
    elif len(line.split()) == 1:
        a,b = line.split()[0], None
    else:
        raise Exception, "Invalid input! Line: \"%s\"" % line
    if a not in graph:
        graph[a] = {b}
    else:
        graph[a].add(b)
for line in toposort_flatten(graph ...