<> {{attachment:uos-logo.png}} ROS packages from the [[http://www.inf.uni-osnabrueck.de/kbs/|Knowledge-Based Systems]] group at the University of Osnabrück. We are actively developing most of these packages. If you use our packages and have any comments/bug reports/patches, we'd be happy to hear from you! Make sure to select the ROS distro you're using with the buttons above. == Installation == {{{#!wiki version fuerte groovy hydro === Prerequisites === TL;DR: Make sure you have those dependencies that are already released as Ubuntu packages installed on your machine. On our development machines, we have the following setup: * '''Ubuntu 12.04 (Precise)''' * '''Fuerte''' / '''Groovy''' / '''Hydro''' (see compatibility matrix below) * '''ROS Ubuntu packages''' installed by default on our machines: }}} {{{{#!wiki version fuerte '''Fuerte:''' {{{ ros-fuerte-camera-umd ros-fuerte-desktop-full ros-fuerte-joystick-drivers ros-fuerte-laser-drivers ros-fuerte-move-arm ros-fuerte-object-manipulation ros-fuerte-openni-kinect ros-fuerte-pr2-object-manipulation ros-fuerte-robot-model-py }}} }}}} {{{{#!wiki version hydro '''Hydro:''' {{{ ros-hydro-audio-common ros-hydro-cmake-modules ros-hydro-convex-decomposition ros-hydro-desktop-full ros-hydro-gazebo-ros-control ros-hydro-ivcon ros-hydro-joystick-drivers ros-hydro-libuvc-ros ros-hydro-moveit-full ros-hydro-object-recognition-capture ros-hydro-object-recognition-ros ros-hydro-object-recognition-tabletop ros-hydro-openni-launch ros-hydro-openni2-launch ros-hydro-pr2-controllers ros-hydro-python-orocos-kdl ros-hydro-ros-control ros-hydro-ros-controllers ros-hydro-sicktoolbox-wrapper ros-hydro-slam-gmapping ros-hydro-sound-play ros-hydro-urdfdom-py }}} }}}} {{{#!wiki version fuerte groovy hydro If you install all of these, you'll have everything needed to compile our stacks. On the other hand, you will also get a lot more than strictly necessary, so if you have tight disk space requirements, you can instead hunt down missing dependencies one by one and only install those Ubuntu packages which are absolutely necessary. * Just for debugging information: tested using '''gcc version 4.6.4''', although we never had a problem compiling with earlier versions. }}} === Installing uos-ros-pkg === The easiest way to install `uos-ros-pkg` and all dependencies is to run the following commands: {{{{#!wiki version fuerte ==== Fuerte ==== {{{ rosws init ~/ros-fuerte /opt/ros/fuerte # replace ros-fuerte by wherever you want your ROS Fuerte code; should not exist yet empty cd ~/ros-fuerte rosws init . setup.bash rosws merge https://raw.githubusercontent.com/uos/uos_rosinstalls/master/uos-public-fuerte.rosinstall rosws update . setup.bash rosdep update rosdep install diffdrive_gazebo_plugin katana_driver katana_manipulation \ kurtana_robot kurt_navigation kurt_driver sick_tim uos_slam uos_tools (cd overlays && rosmake *) (cd uos-ros-pkg && rosmake *) }}} }}}} {{{{#!wiki version groovy ==== Groovy ==== Didn't get around to writing this section yet. See https://github.com/uos/uos_rosinstalls/blob/master/uos-public-groovy.rosinstall . }}}} {{{{#!wiki version hydro ==== Hydro ==== {{{ # create catkin workspace: . /opt/ros/hydro/setup.bash mkdir -p ~/ros-hydro/wet/src/ cd ~/ros-hydro/wet/src/ wstool init wstool merge https://raw.githubusercontent.com/uos/uos_rosinstalls/master/uos-public-hydro-wet.rosinstall wstool update catkin_init_workspace cd .. catkin_make . ~/ros-hydro/wet/devel/setup.bash # create rosbuild workspace: mkdir ~/ros-hydro/dry cd ~/ros-hydro/dry rosws init . ~/ros-hydro/wet/devel . ~/ros-hydro/dry/setup.bash rosws merge https://raw.githubusercontent.com/uos/uos_rosinstalls/master/uos-public-hydro-dry.rosinstall rosws update # install dependencies rosdep update rosdep install diffdrive_gazebo_plugin katana_driver kurt3d kurt_driver kurt_navigation sick_tim uos_slam uos_tools volksbot_driver # link one package that's already catkinized to the wet workspace cd ~/ros-hydro/wet/ ln -s ~/ros-hydro/dry/uos-ros-pkg/katana_driver/katana_moveit_ikfast_plugin/ src/ catkin_make # build the dry workspace cd ~/ros-hydro/dry . setup.bash rosmake -a # make sure the correct setup.bash is sourced in each new shell echo ". ~/ros-hydro/dry/setup.bash" >> ~/.bashrc }}} }}}} {{{{#!wiki version indigo_and_newer ==== Indigo ==== {{{ # create catkin workspace . /opt/ros/indigo/setup.bash mkdir -p ~/ros-indigo/src/ cd ~/ros-indigo/src/ wstool init wstool merge https://raw.githubusercontent.com/uos/uos_rosinstalls/master/uos-public-indigo-wet.rosinstall wstool update # install dependencies rosdep update rosdep install --from-paths ./ -i -y --rosdistro indigo # build all packages catkin_init_workspace cd .. catkin_make . ~/ros-indigo/devel/setup.bash # make sure the correct setup.bash is sourced in each new shell echo ". ~/ros-indigo/devel/setup.bash" >> ~/.bashrc }}} }}}} == ROS Release Compatibility == The stacks have been tested with the following ROS releases: || ||'''diamondback'''||'''electric'''||'''fuerte'''||'''groovy'''||'''hydro'''||'''indigo'''|| ||'''basler_tof'''||---||---||---||---||---||`indigo`|| ||'''calvin_robot'''||---||---||`fuerte`||---||`hydro`||`indigo`|| ||'''diffdrive_gazebo_plugin'''||`diamondback`||`electric`||`fuerte`||`groovy`||`hydro`||`indigo`|| ||'''katana_driver'''||`diamondback`||`electric`||`fuerte`||`groovy`||`hydro`||`indigo`|| ||'''katana_manipulation'''||`diamondback`||---||`fuerte`||`groovy_transition`||---||---|| ||'''kurtana_robot'''||`diamondback`||---||`fuerte`||`groovy_transition`||---||---|| ||'''kurt3d'''||---||---||---||---||`hydro`||`indigo`|| ||'''kurt_driver'''||`diamondback`||`electric`||`fuerte`||`groovy`||`hydro`||`indigo`|| ||'''kurt_navigation'''||`diamondback`||`electric`||`fuerte`||`groovy`||`hydro`||`indigo`|| ||'''rviz_fps_plugin'''||---||---||---||---||`hydro`||`indigo`|| ||'''sick_tim'''||`diamondback`||`electric`||`fuerte`||`groovy`||`hydro`||`indigo`|| ||'''slam6d_exporter'''||---||---||---||---||---||`indigo_catkin`|| ||'''uos_rotunit'''||---||---||---||---||`hydro`||`indigo`|| ||'''uos_slam'''||`diamondback`||`electric`||`fuerte`||`groovy`||`hydro`||`indigo`|| ||'''uos_tools'''||`diamondback`||`electric`||`fuerte`||`groovy`||`hydro`||`indigo`|| ||'''volksbot_driver'''||???||???||`master`||`master`||`hydro`||`indigo`|| How to read this table: * "---" = not supported (yet) * "???" = not tested (if you test it and it works, send us a mail) * "`diamondback`" / "..." = supported by branch named `diamondback`/... == Stacks == * [[basler_tof]] * [[calvin_robot]] * [[diffdrive_gazebo_plugin]] * [[katana_driver]] * [[katana_manipulation]] * [[kurtana_robot]] * [[kurt3d]] * [[kurt_driver]] * [[kurt_navigation]] * [[rviz_fps_plugin]] * [[sick_tim]] * [[slam6d_exporter]] (previously [[uos_slam]]) * [[uos_rotunit]] * [[uos_tools]] * [[volksbot_driver]]