MoveIt_StandAlone

Prepare Environment

1. term$ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
   Note: Here you are adding the ROS repos but not actually installing ROS

2. term$ sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

3. term$ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu lsb_release -sc main" > /etc/apt/sources.list.d/ros-latest.list'

4. term$ wget http://packages.ros.org/ros.key -O - | sudo apt-key add -

5. term$ sudo apt update

6. term$ sudo apt install ros-melodic-moveit-core ros-melodic-moveit-kinematics ros-melodic-moveit-msgs ros-melodic-xacro rosbash ros-melodic-tf-conversions ros-melodic-roscpp ros-melodic-cmake-modules ros-melodic-trac-ik-kinematics-plugin python-catkin-tools liburdf0d liburdf-dev liburdfdom-headers-dev liborocos-kdl1.3 liborocos-kdl-dev libkdl-parser0d libkdl-parser-dev swig

7. term$ sudo apt install libeigen-stl-containers-dev libgeometric-shapes-dev

8. Download Eigen3: http://eigen.tuxfamily.org/index.php?title=Main_Page
   (Then navigate to the director to where it was downloaded)

   1. term$ mkdir build && cd $_
   2. term$ cmake ..
   3. term$ sudo make install

9. term$ echo 'export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/ros/melodic/lib' >> ~/.bashrc

10. term$ echo 'source /opt/ros/melodic/setup.bash' >> ~/.bashrc

Build MoveIt! ROS Package

1. term$ git clone --recurse-submodules https://github.com/correlllab/MoveIt_StandAlone.git
   (This repo)

2. term$ cd MoveIt_StandAlone

3. term$ cd MoveIt_StandAlone

4. term$ catkin build