UR_MP_Workspace

Universal Robots Motion Planning ROS1 (Melodic) Workspace

Download

• git clone https://github.com/correlllab/UR_MP_Workspace.git --recursive (This repo)

Installation Steps (Ubuntu 18)

Install Qt

1. Login to Qt: https://www.qt.io/download-open-source
2. Download and install latest Qt

Install Eigen

1. cd /tmp (Choose another directory if you do not want repo to disappear on shutdown)
2. git clone https://gitlab.com/libeigen/eigen.git
3. cd eigen
4. mkdir build && cd $_
5. cmake ..
6. sudo make -j6 install

Install ROS

1. sudo apt install ros-melodic-desktop-full python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential
2. echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
3. source ~/.bashrc
4. sudo rosdep init && rosdep update && rosdep install rviz

Install Bullet (Optional? Try without first)

1. ./src/vcpkg/bootstrap-vcpkg.sh
2. ./src/vcpkg/vcpkg integrate install
3. ./src/vcpkg/vcpkg install bullet3

Download MoveIt! (Ver.1) and prep for install (NOTE: Must be built from source)

1. wstool init src
2. wstool merge -t src https://raw.githubusercontent.com/ros-planning/moveit/master/moveit.rosinstall
3. wstool update -t src
4. rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO}
5. catkin config --extend /opt/ros/${ROS_DISTRO} --cmake-args -DCMAKE_BUILD_TYPE=Release
6. touch src/moveit/moveit_planners/pilz_industrial_motion_planner/CATKIN_IGNORE

Build All Packages (including MoveIt!)

1. catkin build