PR2 Packages for ROS Kinetic Kame

Yilong Li

This is a catkin workspace for PR2 packages which can be run on ROS version Kinetic Kame.

Installation and Usage

Step 0. Clone this repository with all the submodules:

   git clone --recursive https://github.com/gnoliyil/pr2_kinetic_packages.git

Step 1. Install dependency packages: ros-kinetic-pr2-common ros-kinetic-pr2-description ros-kinetic-pr2-machine ros-kinetic-pr2-msgs and ros-kinetic-moveit are required; Download EML(EtherCAT Master for Linux) from this repository (in release/hydro/eml branch) and run (do not run in the catkin workspace)

    $ mkdir build
    $ cd build
    $ cmake ..; make; sudo make install 

to install the EML library.

Step 2. Build all packages.

    $ catkin_make

It may prompt that some service headers are not found, if this occurs, please use the following command to compile only the required package, then run catkin_make again.

For example, if it prompts

/home/gnoliyil/Work/catkin-ws/src/pr2_teleop/src/teleop_gripper.cpp:32:52: fatal error: pr2_controllers_msgs/Pr2GripperCommand.h: No such file or directory
/home/gnoliyil/Work/catkin-ws/src/pr2_teleop/src/teleop_pr2.cpp:44:65: fatal error: pr2_controllers_msgs/JointTrajectoryControllerState.h: No such file or directory
compilation terminated.
/home/gnoliyil/Work/catkin-ws/src/pr2_run_stop_auto_restart/src/run_stop_auto_restart.cpp:33:47: fatal error: pr2_power_board/PowerBoardCommand.h: No such file or directory

Just run

    $ catkin_make --pkg pr2_controllers_msgs pr2_power_board

Then run $ catkin_make again.

If you see the error message like

CMake Error at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
  Could not find a package configuration file provided by "moveit_msgs" with
  any of the following names:

    moveit_msgsConfig.cmake
    moveit_msgs-config.cmake

It means you need to install other dependency packages from apt-get (ros-kinetic-moveit-msgs in the example above)

Step 3. Set environment variables using source devel/setup.sh. Please add it in your .bashrc file.

Packages

These packages are included:

• pr2_robot (Source: https://github.com/PR2/pr2_robot)
  • imu_monitor
  • pr2_bringup
  • pr2_camera_synchronizer
  • pr2_computer_monitor
  • pr2_controller_configuration
  • pr2_ethercat
  • pr2_run_stop_auto_restart
• pr2_controllers: (Source: https://github.com/pr2/pr2_controllers)
  • control_toolbox
  • ethercat_trigger_controllers
  • joint_trajectory_action
  • pr2_calibration_controllers
  • pr2_controllers_msgs
  • pr2_gripper_action
  • pr2_head_action
  • pr2_mechanism_controllers
  • robot_mechanism_controllers
  • single_joint_position_action
• pr2_ethercat_drivers: (Source: https://github.com/PR2/pr2_ethercat_drivers)
  • ethercat_hardware
  • fingertip_pressure
• pr2_common_actions: (Source: https://github.com/pr2/pr2_common_actions)
  • joint_trajectory_action_tools
  • joint_trajectory_generator
  • pr2_arm_move_ik
  • pr2_common_action_msgs
  • pr2_tilt_laser_interface
  • pr2_tuck_arms_action
• pr2_power_drivers: (Source: https://github.com/pr2/pr2_power_drivers)
  • ocean_battery_driver
  • power_monitor
  • pr2_power_board
• pr2_apps: (Source: https://github.com/pr2/pr2_apps)
  • pr2_app_manager
  • pr2_mannequin_mode
  • pr2_position_scripts
  • pr2_teleop
  • pr2_teleop_general
  • pr2_tuckarm
• pr2_simulator: (Source: https://github.com/PR2/pr2_simulator)
  • pr2_controller_configuration_gazebo
  • pr2_gazebo
  • pr2_gazebo_plugins
• pr2_mechanism: (Source: https://github.com/pr2/pr2_mechanism)
  • pr2_controller_interface
  • pr2_controller_manager
  • pr2_hardware_interface
  • pr2_mechanism_diagnostics
  • pr2_mechanism_model
• app_manager (Source: https://github.com/pr2/app_manager)
• moveit_msgs (Source: https://github.com/ros-planning/moveit_msgs)
• willow_maps (Source: https://github.com/pr2/willow_maps)
• pr2_description (Source: https://github.com/pr2/pr2_common)

Notes

1. Add a RobotState::RobotState() constructor (though should never be called) for compatibility with new version of hardware_interface.

2. Add pr2_controllers_msgs to dependency lists of joint_trajectory_generator (both in CMakeLists.txt and packages.xml)

3. Use jade-devel branch of moveit_msgs rather than kinetic-devel, since the latter one removes GetKinematicSolverInfo.srv, which is required by pr2 package pr2_teleop.

4. Add pr2_base model, which only includes base and torso of PR2 robot.