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Installation on multiple (overlayed) workspaces

see here for details on the usage of multiple workspaces.

Table of Contents

  1. Before start
  2. dependency
  3. Automatic installation
  4. Manual installation
  5. Utilities

Before start

  1. be sure that the .bashrc DOES NOT call a setup.bash of an existing workspace

  2. you may want to change the directory path. If yes, adjust the instructions accordingly.

dependency

install ros: follow the steps described in http://wiki.ros.org/ROS/Installation

install catkin_tools: follow the steps described in https://catkin-tools.readthedocs.io/en/latest/installing.html

install wstool: follow the steps described in http://wiki.ros.org/wstool

install and configure rosdep: follow the steps described in http://wiki.ros.org/rosdep

instal git and other depedencies

sudo apt install git  build-essential libqt5charts5-dev libqt5quickcontrols2-5 qtquickcontrols2-5-dev

Automatic installation

(STILL WORKING IN PROGRESS)

All the installation can be done by using this script

wget  --backups=1 https://raw.githubusercontent.com/JRL-CARI-CNR-UNIBS/installation/master/automated_script.bash
source automated_script.bash

To make the change effective, open and close the terminals or run source ~/.bashrc manually.

Manual installation

workspace 1: third-parties repository

mkdir -p ~/projects/third_parties_ws/src
cd ~/projects/third_parties_ws
catkin init
wstool init src
mkdir rosinstall
wget  --backups=1 https://raw.githubusercontent.com/JRL-CARI-CNR-UNIBS/installation/master/third_parties.rosinstall -P ./rosinstall
wstool merge -t src rosinstall/third_parties.rosinstall
wstool update -t src
rosdep install --from-paths src --ignore-src -r -y
catkin config -j $(nproc --ignore=2)
catkin build -cs --mem-limit 50%

The package robotiq_3f_gripper_articulated_gazebo_plugins could fail during compilation, but it is not needed.

Now, add the repository to path:

echo "source /home/$USER/projects/third_parties_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

workspace 2: control repository

mkdir -p ~/projects/control_ws/src
cd ~/projects/control_ws
catkin init
wstool init src
mkdir rosinstall
wget  --backups=1 https://raw.githubusercontent.com/CNR-STIIMA-IRAS/rosdyn/master/rosdyn.rosinstall -P ./rosinstall
wstool merge -t src ./rosinstall/rosdyn.rosinstall

wget  --backups=1 https://raw.githubusercontent.com/JRL-CARI-CNR-UNIBS/installation/master/cnr_ros_control.rosinstall -P ./rosinstall
wstool merge -t src ./rosinstall/cnr_ros_control.rosinstall

wget  --backups=1 https://raw.githubusercontent.com/JRL-CARI-CNR-UNIBS/installation/master/controllers.rosinstall -P ./rosinstall
wstool merge -t src ./rosinstall/controllers.rosinstall

wstool update -t src
rosdep install --from-paths src --ignore-src -r -y
catkin config -j 2
catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
catkin build -cs --mem-limit 30%

Now, add the repository to path:

echo "source /home/$USER/projects/control_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

workspace 3: motion and task planning repository

Before the installation you need to install mongo:

sudo apt install libbson-dev  libmongoc-dev
mkdir -p ~/projects/mongo_src
cd ~/projects/mongo_src
curl -OL https://github.com/mongodb/mongo-cxx-driver/archive/r3.1.4.tar.gz
tar -xvf r3.1.4.tar.gz
cd mongo-cxx-driver-r3.1.4/build
cmake . .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local
sudo cmake --build . --target EP_mnmlstc_core
cmake --build .
sudo cmake --build . --target install

then you can run:

mkdir -p ~/projects/planning_ws/src
cd ~/projects/planning_ws
catkin init
wstool init src
mkdir rosinstall
wget  --backups=1 https://raw.githubusercontent.com/JRL-CARI-CNR-UNIBS/installation/master/motion_and_task_planning.rosinstall -P ./rosinstall
wstool merge -t src ./rosinstall/motion_and_task_planning.rosinstall
wstool update -t src
rosdep install --from-paths src --ignore-src -r -y
catkin config -j $(nproc --ignore=2)
catkin build -cs --mem-limit 50%

Now, add the repository to path:

echo "source /home/$USER/projects/planning_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

workspace 4: perception repository

mkdir -p ~/projects/perception_ws/src
cd ~/projects/perception_ws
catkin init
wstool init src
mkdir rosinstall
wget  --backups=1 https://raw.githubusercontent.com/JRL-CARI-CNR-UNIBS/installation/master/perception.rosinstall -P ./rosinstall
wstool merge -t src ./rosinstall/perception.rosinstall
wstool update -t src
rosdep install --from-paths src --ignore-src -r -y
catkin config -j $(nproc --ignore=2)
catkin build -cs --mem-limit 50%

Now, add the repository to path:

echo "source /home/$USER/projects/perception_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

workspace [optional]: Sharework cembre cell

you may need username and password for some repository.

mkdir -p ~/projects/sharework_ws/src
cd ~/projects/sharework_ws
catkin init
wstool init src
mkdir rosinstall
wget  --backups=1 https://raw.githubusercontent.com/JRL-CARI-CNR-UNIBS/installation/master/sharework_cembre.rosinstall -P ./rosinstall
wstool merge -t src ./rosinstall/sharework_cembre.rosinstall
wstool update -t src
rosdep install --from-paths src --ignore-src -r -y
catkin config -j $(nproc --ignore=2)
catkin build -cs --mem-limit 50%

Now, add the repository to path:

echo "source /home/$USER/projects/sharework_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

workspace [optional]: CNR-STIIMA cell and simulated cells

you may need username and password for some repository.

mkdir -p ~/projects/cells_ws/src
cd ~/projects/cells_ws
catkin init
wstool init src
mkdir rosinstall
wget  --backups=1 https://raw.githubusercontent.com/JRL-CARI-CNR-UNIBS/installation/master/cells.rosinstall -P ./rosinstall
wstool merge -t src ./rosinstall/cells.rosinstall
wstool update -t src
rosdep install --from-paths src --ignore-src -r -y
catkin config -j $(nproc --ignore=2)
catkin build -cs --mem-limit 50%

Now, add the repository to path:

echo "source /home/$USER/projects/cells_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

workspace [optional]: robothon

you may need username and password for some repository.

mkdir -p ~/projects/robothon_ws/src
cd ~/projects/robothon_ws
catkin init
wstool init src
mkdir rosinstall
wget https://raw.githubusercontent.com/JRL-CARI-CNR-UNIBS/installation/master/robothon.rosinstall -P ./rosinstall
wstool merge -t src ./rosinstall/robothon.rosinstall
wstool update -t src
rosdep install --from-paths src --ignore-src -r -y
catkin config -j $(nproc --ignore=2)
catkin build -cs --mem-limit 50%

Now, add the repository to path:

echo "source /home/$USER/projects/robothon_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

Required apt packages

Some ROS packages need to be installed from apt:

sudo apt-get install ros-$ROS_DISTRO-trac-ik-kinematics-plugin
sudo apt-get install ros-$ROS_DISTRO-pilz-industrial-motion
sudo apt-get install ros-$ROS_DISTRO-moveit-planners-chomp
sudo apt-get install ros-$ROS_DISTRO-realsense2-description
sudo apt-get install ros-$ROS_DISTRO-realsense2-camera

Utilities

you may want to use some shortcut to:

  • (re)load the environment variables

  • check the status of the workspaces (what packages have been modified)

  • update all the repositories

Let's suppose that you download this repository in ~/projects/installation, then you should add the following lines to the file ~/.bashrc

alias rr='source ~/projects/installation/source_all_ws.bash'
alias status_ws='source ~/projects/installation/status_of_ws.bash'
alias update_ws='source  ~/projects/installation/update_all_ws.bash'
alias compile_ws='source  ~/projects/installation/compile_all_ws.bash'

Also, put the following line in your .bashrc file to configure your ROSCONSOLE (ROS_INFO, WARN, ERROR) print:

export ROSCONSOLE_FORMAT='[${severity}, ${function},${line}]: ${message}'

Shortcuts to ws sourcing

You can create auto-completable shortcuts, e.g. to source a single workspace. In your .bashrc :

# create function to source workspace
ss () {
  ws=${1:cells_ws}
  OPT=$'opt'
  BASHRC=$'bashrc'
  if [ "$ws" == "$OPT" ]; then
    source /opt/ros/noetic/setup.bash
  elif [ "$ws" == "$BASHRC" ]; then
    source ~/projects/.bashrc
  else
    source ~/projects/$ws/devel/setup.bash
  fi
}

# create tab suggestions (need to put the ws names manually)
_ss()
{
    local cur=${COMP_WORDS[COMP_CWORD]}
    COMPREPLY=( $(compgen -W "bashrc opt third_parties_ws control_ws planning_ws perception_ws cells_ws" -- $cur) )
}
complete -F _ss ss

Now, you can try ss and tab to see the possible parameters.

Visualization

You might consider using PlotJuggler for visualization of topics in ROS. See here for mode details.