From 7532b75276f0ef3bc9022526f349dfb36d0ad0b2 Mon Sep 17 00:00:00 2001 From: YueErro Date: Tue, 4 Jun 2019 12:15:43 +0200 Subject: [PATCH] crystal to dashing --- README.md | 46 +++++++++++++++++++++++----------------------- 1 file changed, 23 insertions(+), 23 deletions(-) diff --git a/README.md b/README.md index d392628..0b8eaf7 100644 --- a/README.md +++ b/README.md @@ -82,7 +82,7 @@ Among other things, you will find in this repository instructions on how to simu | Height | 871 mm | | Reach | 656 mm | | Footprint | 204 mm | -| Robotics framework | ROS 2.0 Crystal Clemmys | +| Robotics framework | ROS 2.0 Dashing Diademata | | Communication interfaces | 1 Gbps Ethernet, Compliant with TSN standards | | Information model | Hardware Robot Information Model (HRIM®), version Coliza | | Security | Encrypted and secure computing environment, Secure data exchange capabilities               | @@ -110,30 +110,30 @@ In this section we will install all the necessary dependencies in order to be ab ### ROS 2.0 -- **ROS 2.0 Crystal**: following the official instructions, [source](https://index.ros.org/doc/ros2/Linux-Development-Setup/) or [debian packages](https://index.ros.org/doc/ros2/Linux-Install-Debians/). +- **ROS 2.0 Dashing**: following the official instructions, [source](https://index.ros.org/doc/ros2/Installation/Dashing/Linux-Development-Setup/) or [debian packages](https://index.ros.org/doc/ros2/Installation/Dashing/Linux-Install-Debians/). ### Dependent tools -**Note**: We recommend installing **Gazebo 9.0.0** via **ROS Crystal Debian packages** and removing previous gazebo installations to avoid undesired conflicts, e.g. `apt-get remove *gazebo*`. You can also use different versions of the simulator such as Gazebo 10, but you must skip the installation of `ros-crystal-gazebo*` packages and add [gazebo_ros_pkgs](https://github.com/ros-simulation/gazebo_ros_pkgs/tree/crystal) to the `ros2_mara_ws` we are going to build in the [Create a ROS workspace](#create-a-ros-20-workspace) section. +**Note**: We recommend installing **Gazebo 9.9.0** via **ROS Dashing Debian packages** and removing previous gazebo installations to avoid undesired conflicts, e.g. `apt-get remove *gazebo*`. You can also use different versions of the simulator such as Gazebo 10, but you must skip the installation of `ros-dashing-gazebo*` packages. ```sh # ROS 2 extra packages sudo apt update && sudo apt install -y \ -ros-crystal-action-msgs \ -ros-crystal-message-filters \ -ros-crystal-yaml-cpp-vendor \ -ros-crystal-urdf \ -ros-crystal-rttest \ -ros-crystal-tf2 \ -ros-crystal-tf2-geometry-msgs \ -ros-crystal-rclcpp-action \ -ros-crystal-cv-bridge \ -ros-crystal-control-msgs \ -ros-crystal-image-transport \ -ros-crystal-gazebo-dev \ -ros-crystal-gazebo-msgs \ -ros-crystal-gazebo-plugins \ -ros-crystal-gazebo-ros \ -ros-crystal-gazebo-ros-pkgs +ros-dashing-action-msgs \ +ros-dashing-message-filters \ +ros-dashing-yaml-cpp-vendor \ +ros-dashing-urdf \ +ros-dashing-rttest \ +ros-dashing-tf2 \ +ros-dashing-tf2-geometry-msgs \ +ros-dashing-rclcpp-action \ +ros-dashing-cv-bridge \ +ros-dashing-control-msgs \ +ros-dashing-image-transport \ +ros-dashing-gazebo-dev \ +ros-dashing-gazebo-msgs \ +ros-dashing-gazebo-plugins \ +ros-dashing-gazebo-ros \ +ros-dashing-gazebo-ros-pkgs sudo apt install -y \ python3-vcstool python3-numpy wget python3-pyqt5 @@ -145,7 +145,7 @@ Create the workspace and download source files: ```sh mkdir -p ~/ros2_mara_ws/src cd ~/ros2_mara_ws -wget https://raw.githubusercontent.com/acutronicrobotics/MARA/master/mara-ros2.repos +wget https://raw.githubusercontent.com/acutronicrobotics/MARA/dashing/mara-ros2.repos vcs import src < mara-ros2.repos ``` @@ -163,7 +163,7 @@ hrim generate models/actuator/gripper/gripper.xml Please make sure you are not sourcing ROS workspaces via `.bashrc` or any other way. ```sh -source /opt/ros/crystal/setup.bash +source /opt/ros/dashing/setup.bash cd ~/ros2_mara_ws && colcon build --merge-install --packages-skip individual_trajectories_bridge ``` **Installation completed!** Now make sure you check the **[Examples](#examples)** section! Or follow the MoveIt! installation. @@ -192,7 +192,7 @@ Compile the trajectory bridge located in the workspace using ROS as source. source /opt/ros/melodic/setup.bash cd ~/ros2_mara_ws && colcon build --merge-install --packages-select individual_trajectories_bridge # Building ROS 1 creates conflicts with this ROS 2.0 workspace. Next line ensures the workspace is completely ROS 2.0. -sed -i 's#/opt/ros/melodic#/opt/ros/crystal#g' ~/ros2_mara_ws/install/setup.bash +sed -i 's#/opt/ros/melodic#/opt/ros/dashing#g' ~/ros2_mara_ws/install/setup.bash ``` #### ROS Workspace Compile the MARA_ROS1 packages. @@ -328,7 +328,7 @@ ros2 run individual_trajectories_bridge individual_trajectories_bridge_actions - ## Examples - [Documentation and tutorials](https://acutronicrobotics.com/docs/products/robots/mara) - - [mara_examples](https://github.com/AcutronicRobotics/mara_examples.git) + - [mara_examples](https://github.com/AcutronicRobotics/mara_examples.git) (_Not ported to dashing yet_)