SebastianGrans / yumi

ROS 2 stack for external control of the ABB YuMi.

ROS 2 stack for external control of the ABB YuMi.

Currently in a non functional state!

Dependencies:

• vcs import

  • sudo apt-get install python3-vcstool

• abb_librws dependencies

  • POCO C++ Libraries (>= 1.4.3 due to WebSocket support)
    • Navigate to home dir. Should be built from source.

      sudo apt-get -y update && sudo apt-get -y install git g++ make cmake libssl-dev  
      git clone -b master https://github.com/pocoproject/poco.git   
      cd poco
      mkdir cmake-build 
      cd cmake-build
      sudo cmake ..
      sudo cmake --build . --target install
      

• abb_libegm dependencies

  • Boost
    • sudo apt-get install libboost-all-dev
  • Protobuf
    • Should be built from source.

      sudo apt-get install autoconf automake libtool curl make g++ unzip  
      git clone https://github.com/protocolbuffers/protobuf.git  
      cd protobuf  
      ./configure
      sudo make
      sudo make install
      sudo ldconfig # refresh shared library cache.
      

• Moveit 2 dependencies

  • yaml-cpp
    • sudo apt-get install libyaml-cpp-dev