Installing HLP R Codebase with wstool [DEPRECATED]

DEPRECATION NOTICE - This installation procedure is outdated.

Grabbing HLP-R specific packages with wstool

Wstool allows quick pulling of non-rosdep packages from hosted repositories. In the following steps we'll setup a kinetic rosinstall file that will make installing and keeping all hlp-r repositories up to date simple.

Installing all hlp-r repos and their dependencies

Installing the hlp-r repos

Assuming catkin_ws is an existing workspace and is properly initialized

$ cd ~/catkin_ws/src/
$ wget https://raw.githubusercontent.com/HLP-R/hlpr_common/kinetic-devel/rosinstall/kinetic.rosinstall
$ wstool init ./ kinetic.rosinstall

Installing the required dependencies

$ sudo apt-get install ros-kinetic-joy ros-kinetic-moveit ros-kinetic-trac-ik ros-kinetic-map-server ros-kinetic-move-base-msgs ros-kinetic-controller-manager ros-kinetic-ecl-geometry ros-kinetic-sound-play ros-kinetic-control-toolbox -y

Grab external messages

cd into Home folder and create a Software folder

$ mkdir Software && cd Software

"Install" the external message packages

1. RAIL_messages repo

   • git clone https://github.com/GT-RAIL/rail_manipulation_msgs.git
   • ln -s ~/Software/rail_manipulation_msgs ~/catkin_ws/src/

2. Get the wpi_jaco packages repo. Note: make sure to pull the vector_develop branch

   • git clone -b vector-develop https://github.com/GT-RAIL/wpi_jaco.git
   • ln -s ~/Software/wpi_jaco/wpi_jaco_msgs/ ~/catkin_ws/src/
   • ln -s ~/Software/wpi_jaco/wpi_jaco_wrapper/ ~/catkin_ws/src/
   • ln -s ~/Software/wpi_jaco/jaco_sdk/ ~/catkin_ws/src/

3. Robotic Gripper repo

   • git clone https://github.com/WaypointRobotics/robotiq_85_gripper.git
   • ln -s ~/Software/robotiq_85_gripper/robotiq_85_msgs/ ~/catkin_ws/src/

4. Delete bwi_manipulation from bwi_common in your catkin_ws

cd into catkin_ws and compile

• cd ~/catkin_ws && catkin_make

Pulling updates from hlp-r repositories

Assuming catkin_ws is an existing workspace and is properly initialized

$ cd ~/catkin_ws/src/
$ wget https://raw.githubusercontent.com/HLP-R/hlpr_common/kinetic-devel/rosinstall/kinetic.rosinstall
$ wstool init ./ kinetic.rosinstall

In the future you can update from all repos using the wstool update command.

 $ wstool update

Grabbing dependencies from package.xml

rosdep is another helpful tool in quickly sorting out necessary packages. It will pull packages listed in package.xml manifest files from the main rosdep listing, reducing the number of packages needed to install by hand.

To grab dependencies from packages in your workspace...

cd into root of catkin workspace
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro=$ROS_DISTRO -y