Install

The following instructions have been tested in Ubuntu 16.04 (Xenial), 64 bits.

ROS Kinetic

Set-up your computer to accept software from packages.ros.org and set-up your keys following the steps described at http://wiki.ros.org/kinetic/Installation/Ubuntu

Now, install the ROS bare bones:

# Installation
sudo apt-get update
sudo apt-get install python-wstool ros-kinetic-ros-base
# Initialize rosdep
sudo rosdep init
rosdep update

OpenRAVE

OpenRAVE is one of the most powerful existing simulation and motion planning environments. It is widely used in academia and industry.

Here you can find the automated installation scripts: https://github.com/crigroup/openrave-installation

note:

If the automated method fails, you can try the manual method: https://crigroup.gitbooks.io/osrobotics/content/installation/motion_planning.html

ROS Package installation

Go to your ROS working directory:

cd ~/catkin_ws/src

Clone these repositories:

git clone https://github.com/crigroup/or_octomap_plugin.git
git clone https://github.com/crigroup/openrave_catkin.git

Install any missing dependencies using rosdep:

rosdep update
rosdep install --from-paths . --ignore-src -y

Now, compile your ROS workspace:

cd ~/catkin_ws && catkin_make

Testing the Installation

Make sure you always source the appropriate ROS setup file, e.g:

source ~/catkin_ws/devel/setup.bash

The following will run the tests of the or_octomap_plugin package: