ur5_moveit_simple

Description: A demo using moveit_simple with the ur5

Developed by Mike Lautman at PickNik Consulting

TODO(mlautman): fix Travis badge:

Install

Ubuntu Debian

Note: this package has not been released yet

sudo apt-get install ros-kinetic-ur5_moveit_simple

Build from Source

These instructions assume you are running on Ubuntu 16.04:

1. Install ROS Kinetic and the following build tools.

    sudo apt-get install python-wstool python-catkin-tools
   

2. Re-use or create a catkin workspace:

    export CATKIN_WS=~/ws_catkin/
    mkdir -p $CATKIN_WS
    cd $CATKIN_WS
   

3. Download the required repositories and install any dependencies:

    git clone git@github.com:PickNikRobotics/ur5_moveit_simple.git
    wstool init src
    wstool merge -t src ur5_moveit_simple/ur5_moveit_simple.rosinstall
    wstool update -t src
    rosdep install --from-paths src --ignore-src --rosdistro kinetic
   

4. Configure and build the workspace:

    catkin config --extend /opt/ros/kinetic --cmake-args -DCMAKE_BUILD_TYPE=Release
    catkin build
   

5. Source the workspace.

    source devel/setup.bash
   

Developers: Quick update code repositories

To make sure you have the latest repos:

cd $CATKIN_WS/src/ur5_moveit_simple
git checkout master
git pull origin master
cd ..
wstool merge ur5_moveit_simple/ur5_moveit_simple.rosinstall
wstool update
rosdep install --from-paths . --ignore-src --rosdistro kinetic

Run

Run ur5_demo

roslaunch ur5_moveit_simple ur5_demo.launch

Run with Debuging

Run ur5_demo with GDB

roslaunch ur5_moveit_simple ur5_demo.launch debug:=true

Run ur5_demo with Callgrind

roslaunch ur5_moveit_simple ur5_demo.launch callgrind:=true

Run ur5_demo with Valgrind

roslaunch ur5_moveit_simple ur5_demo.launch callgrind:=true

Run Inside Docker

Prerequisite

You must have a private rsa key ~/.ssh/id_rsa that is not password protected and is attached to your Github/Bitbucket/Gerrit accounts. You must also have a working installation of docker.

1. Navigate to $CATKIN_WS/src/ur5_moveit_simple/.docker. You should see the Dockerfile recipe in the directory.

2. Build the docker image

    cd $CATKIN_WS/src/ur5_moveit_simple/.docker
    cp ~/.ssh/id_rsa id_rsa && docker build -t ur5_moveit_simple:kinetic-source .; rm id_rsa
   

3. Run the docker image

   • Without the gui

       docker run -it --rm ur5_moveit_simple:kinetic-source /bin/bash
     

   • With the gui (tested with Ubuntu native and a Ubuntu VM)

       . ./gui-docker -it --rm ur5_moveit_simple:kinetic-source /bin/bash
     

Code API

Note: this package has not been released yet

See the Doxygen documentation

Testing and Linting

To run roslint, use the following command with catkin-tools.

catkin build --no-status --no-deps --this --make-args roslint

To run catkin lint, use the following command with catkin-tools.

catkin lint -W2 --rosdistro kinetic

Use the following command with catkin-tools to run tests.

catkin run_tests --no-deps --this -i