OpenManipulator

Posted 2018.07.27 07:08

http://emanual.robotis.com/docs/en/platform/openmanipulator/


1. Install ROS and Gazebo

sudo apt-get update


sudo apt-get install ros-kinetic-ros-controllers ros-kinetic-gazebo* ros-kinetic-moveit* ros-kinetic-dynamixel-sdk ros-kinetic-dynamixel-workbench-toolbox ros-kinetic-industrial-core 


Install dependent packages from ROBOTIS-GIT

cd ~/catkin_ws/src/


git clone https://github.com/ROBOTIS-GIT/open_manipulator.git


git clone https://github.com/ROBOTIS-GIT/open_manipulator_msgs.git


git clone https://github.com/ROBOTIS-GIT/open_manipulator_simulations.git


cd ~/catkin_ws && catkin_make

Error occurs

CMake Error at /home/sj/catkin_ws/devel/share/realtime_tools/cmake/realtime_toolsConfig.cmake:113 (message):
  Project 'realtime_tools' specifies
  '/home/sj/catkin_ws/src/realtime_tools/include' as an include dir, which is
  not found.  It does neither exist as an absolute directory nor in
  '/home/sj/catkin_ws/src/realtime_tools//home/sj/catkin_ws/src/realtime_tools/include'.
  Check the issue tracker
  'https://github.com/ros-controls/realtime_tools/issues' and consider
  creating a ticket if the problem has not been reported yet.


cd ~/catkin_ws/src


git clone https://github.com/ros-controls/realtime_tools.git


cd ~/catkin_ws && catkin_make


Now it works! Then run OpenManipulator on Rviz


roslaunch open_manipulator_description open_manipulator_rviz.launch

Now working again..

sj@DR-Robotics:~/catkin_ws/src$ roslaunch open_manipulator_description open_manipulator_rviz.launch
[open_manipulator_rviz.launch] is neither a launch file in package [open_manipulator_description] nor is [open_manipulator_description] a launch file name
The traceback for the exception was written to the log file


source ~/catkin_ws/devel/setup.bash


Now it works!!

I have no idea why I have to run the command above once more even if it is in ~/.bashrc.

It was because my .bashrc contains two setup.bash lines


source /opt/ros/kinetic/setup.bash

source ~/catkin_ws/devel/setup.bash
source ~/ws_baxter/devel/setup.bash


The upper one is the original one for OpenManipulator and the lower one is for running Baxter.



roslaunch open_manipulator_description open_manipulator_rviz.launch










//

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