The install instructions will guide you through the installation of ASR on Ubuntu 16.04.

  • Make sure that:
    • - you have a working ROS installation and at least ros-kinetic-ros-base installed - you have a working catkin workspace ({catkinWS} is the path to the workspace) - you source /opt/ros/kinetic/setup.bash in your .bashrc file (or a similar file if you don't use the bash) - you source {catkinWS}/devel/setup.bash in your .bashrc file (or a similar file if you don't use the bash) - all those files get sourced if you launch TMUX (TMUX sources .profile instead of .bashrc, so make a symlink from .profile to .bashrc or source those files in .profile too)
    • - your cmake version is at least 3.6 since a dependency of asr_fake_object_recognition has this one as the minimal required version. So either manually install a higher cmake version on your system (as Ubuntu 16 uses a lower version when installing it with the package manager) or blacklist the relevant packages if you don't need them
  • cd {catkinWS}/src
  • git clone

  • cd asr_ros_pkg
  • git submodule update --init --recursive
  • git submodule foreach "git checkout master"
  • Now we need to install all dependencies: sudo apt-get install libpugixml-dev libsqlite3-dev ros-kinetic-pcl-conversions libmuparser-dev ros-kinetic-tf ros-kinetic-image-transport ros-kinetic-image-geometry ros-kinetic-resource-retriever ros-kinetic-move-base-msgs ros-kinetic-sound-play ros-kinetic-checkerboard-detector ros-kinetic-camera-calibration-parsers ros-kinetic-pcl-ros ros-kinetic-move-base libsdl-dev ros-kinetic-gazebo-msgs ros-kinetic-tf-conversions ros-kinetic-rviz ros-kinetic-kdl-parser xsdcxx libglpk-dev ros-kinetic-assimp-devel ros-kinetic-smach-ros python-psutils ros-kinetic-gazebo-ros ros-kinetic-robot-state-publisher ros-kinetic-map-server tmux

  • Install libtmux python module with pip (install pip first: sudo apt install python-pip):
    [sudo] pip install libtmux

  • cd {catkinWS}
  • Compile everything with catkin_make

After catkin_make has finished, the installation is completed.


The packages asr_halcon_bridge and asr_descriptor_surface_recognition depend on the proprietary HALCON library. If you don't own a license for that, you won't be able to run them (the build step for those packages will be skipped though if HALCON is not installed).

Differences when installing on Ubuntu 18.04:

The asr framework was also briefly tested on Ubuntu 18.04 with ROS Melodic. The general installation procedure stays the same as described above. As some packages require certain software versions, you might have to install those depending on the specific package requirements (e.g. OpenCV 2).

So to build all packages follow those steps:

  1. Install dependencies:
    sudo apt install libpugixml-dev libsqlite3-dev ros-melodic-pcl-conversions libmuparser-dev ros-melodic-tf ros-melodic-image-transport ros-melodic-image-geometry ros-melodic-resource-retriever ros-melodic-move-base-msgs ros-melodic-sound-play ros-melodic-checkerboard-detector ros-melodic-camera-calibration-parsers ros-melodic-pcl-ros ros-melodic-move-base libsdl1.2-dev ros-melodic-gazebo-msgs ros-melodic-tf-conversions ros-melodic-rviz ros-melodic-kdl-parser xsdcxx libglpk-dev ros-melodic-assimp-devel ros-melodic-smach-ros python3-psutil python-psutil ros-melodic-gazebo-ros ros-melodic-robot-state-publisher ros-melodic-map-server tmux qt4-default libwxgtk3.0-dev

  2. Manually install OpenCV 2 (e.g. version 2.4)
  3. Install libtmux python module as described above

  4. Clone the asr packages as described above
  5. Check out melodic branches for certain packages (git checkout melodic):

  6. Build all packages with catkin_make

Wiki: asr_installation (last edited 2019-12-19 20:00:04 by TobiasAllgeyer)