UR_MP_Workspace
Universal Robots Motion Planning ROS1 (Melodic) Workspace
Download
git clone https://github.com/correlllab/UR_MP_Workspace.git --recursive
(This repo)
Installation Steps (Ubuntu 18)
Install Qt
- Login to Qt: https://www.qt.io/download-open-source
- Download and install latest Qt
Install Eigen
cd /tmp
(Choose another directory if you do not want repo to disappear on shutdown)git clone https://gitlab.com/libeigen/eigen.git
cd eigen
mkdir build && cd $_
cmake ..
sudo make -j6 install
Install ROS
sudo apt install ros-melodic-desktop-full python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential
echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc
sudo rosdep init && rosdep update && rosdep install rviz
Install Bullet (Optional? Try without first)
./src/vcpkg/bootstrap-vcpkg.sh
./src/vcpkg/vcpkg integrate install
./src/vcpkg/vcpkg install bullet3
Download MoveIt! (Ver.1) and prep for install (NOTE: Must be built from source)
wstool init src
wstool merge -t src https://raw.githubusercontent.com/ros-planning/moveit/master/moveit.rosinstall
wstool update -t src
rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO}
catkin config --extend /opt/ros/${ROS_DISTRO} --cmake-args -DCMAKE_BUILD_TYPE=Release
touch src/moveit/moveit_planners/pilz_industrial_motion_planner/CATKIN_IGNORE
Build All Packages (including MoveIt!)
catkin build