hsr_manipulation

Setup

Workspace setup with repositories

Create new workspace

mkdir -p manipulation_ws/src
cd manipulation_ws
catkin build

Initialise wstool

cd src
wstool init

If this is a standalone installation, visit the rosinstall file, copy the content into your local .rosinstall file and uncomment the section at the bottom.

If your are using our locally shared common dependencies (on the Alienware), do this:

cd src
wstool init
wstool merge https://raw.githubusercontent.com/Suturo1819/hsr_manipulation/master/dependencies.rosinstall

Clone the repos with

wstool update

Install the symengine

If you are reinstalling the symengine, you must delete the previous data, since it won't be updated:

cd /usr/local/lib/python2.7/dist-packages/
sudo rm -r symengine*
cd /usr/local/include
sudo rm -r symengine
bash

Now get back to the workspace from above and install symengine:

cd symengine
git checkout `cat ../symengine.py/symengine_version.txt`
cmake -DBUILD_SHARED_LIBS:BOOL=ON -DWITH_LLVM:BOOL=ON .
make
sudo make install
cd ../symengine.py
sudo python setup.py install

Install pybullet:

sudo pip install pybullet

Install missing rosdep packages

source /opt/ros/kinetic/setup.bash # !! or the shared deps workspace in ~/suturo/general_deps/setup.bash
rosdep update
cd src
rosdep install --ignore-src --from-paths . # note the dot at the end!

Build your workspace

cd /path/to/your/workspace
catkin build
source devel/setup.bash

It's convenient to put the source path into your .bashrc.

Run the Action server

In one terminal, run this and wait a sec:

roslaunch move giskardpy_hsr.launch

In another terminal, run the server:

roslaunch move move_server.launch

Test

rosrun move hsr_move_joint_client_test.py