OpenManipulator

Posted 2018. 7. 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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  1. robotis_customer

    | 2020.04.15 21:49 | PERMALINK | EDIT | REPLY |

    Hello, thanks for the interesting site. I installed ROS1 under Ubuntu 16.04. Then, I followed the steps on the Robotis site to install their OpenManipulator libraries. However, I keep getting errors when I executed in the last step: cd ~/catkin_ws && catkin_make. I reinstalled Ubuntu and ROS1 and followed the steps on your website. In the last step, I got the following error. Do you know how to fix this? Thanks


    user@ubuntu:~/catkin_ws$ cd ~/catkin_ws && catkin_make
    Base path: /home/user/catkin_ws
    Source space: /home/user/catkin_ws/src
    Build space: /home/user/catkin_ws/build
    Devel space: /home/user/catkin_ws/devel
    Install space: /home/user/catkin_ws/install
    ####
    #### Running command: "make cmake_check_build_system" in "/home/user/catkin_ws/build"
    ####
    -- Using CATKIN_DEVEL_PREFIX: /home/user/catkin_ws/devel
    -- Using CMAKE_PREFIX_PATH: /home/user/catkin_ws/devel;/opt/ros/kinetic
    -- This workspace overlays: /home/user/catkin_ws/devel;/opt/ros/kinetic
    -- Found PythonInterp: /usr/bin/python2 (found suitable version "2.7.12", minimum required is "2")
    -- Using PYTHON_EXECUTABLE: /usr/bin/python2
    -- Using Debian Python package layout
    -- Using empy: /usr/bin/empy
    -- Using CATKIN_ENABLE_TESTING: ON
    -- Call enable_testing()
    -- Using CATKIN_TEST_RESULTS_DIR: /home/user/catkin_ws/build/test_results
    -- Found gtest sources under '/usr/src/gmock': gtests will be built
    -- Found gmock sources under '/usr/src/gmock': gmock will be built
    -- Found PythonInterp: /usr/bin/python2 (found version "2.7.12")
    -- Using Python nosetests: /usr/bin/nosetests-2.7
    -- catkin 0.7.20
    -- BUILD_SHARED_LIBS is on
    -- BUILD_SHARED_LIBS is on
    -- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
    -- ~~ traversing 17 packages in topological order:
    -- ~~ - dynamixel_workbench (metapackage)
    -- ~~ - open_manipulator (metapackage)
    -- ~~ - open_manipulator_simulations (metapackage)
    -- ~~ - dynamixel_workbench_msgs
    -- ~~ - open_manipulator_msgs
    -- ~~ - dynamixel_sdk
    -- ~~ - dynamixel_workbench_toolbox
    -- ~~ - robotis_manipulator
    -- ~~ - open_manipulator_libs
    -- ~~ - realtime_tools
    -- ~~ - dynamixel_workbench_controllers
    -- ~~ - dynamixel_workbench_operators
    -- ~~ - open_manipulator_control_gui
    -- ~~ - open_manipulator_controller
    -- ~~ - open_manipulator_teleop
    -- ~~ - open_manipulator_description
    -- ~~ - open_manipulator_gazebo
    -- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
    -- +++ processing catkin metapackage: 'dynamixel_workbench'
    -- ==> add_subdirectory(dynamixel-workbench/dynamixel_workbench)
    -- +++ processing catkin metapackage: 'open_manipulator'
    -- ==> add_subdirectory(open_manipulator/open_manipulator)
    -- +++ processing catkin metapackage: 'open_manipulator_simulations'
    -- ==> add_subdirectory(open_manipulator_simulations/open_manipulator_simulations)
    -- +++ processing catkin package: 'dynamixel_workbench_msgs'
    -- ==> add_subdirectory(dynamixel-workbench-msgs/dynamixel_workbench_msgs)
    -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
    -- dynamixel_workbench_msgs: 18 messages, 2 services
    -- +++ processing catkin package: 'open_manipulator_msgs'
    -- ==> add_subdirectory(open_manipulator_msgs)
    -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
    -- open_manipulator_msgs: 3 messages, 6 services
    -- +++ processing catkin package: 'dynamixel_sdk'
    -- ==> add_subdirectory(DynamixelSDK/ros)
    -- +++ processing catkin package: 'dynamixel_workbench_toolbox'
    -- ==> add_subdirectory(dynamixel-workbench/dynamixel_workbench_toolbox)
    -- +++ processing catkin package: 'robotis_manipulator'
    -- ==> add_subdirectory(robotis_manipulator)
    -- +++ processing catkin package: 'open_manipulator_libs'
    -- ==> add_subdirectory(open_manipulator/open_manipulator_libs)
    -- +++ processing catkin package: 'realtime_tools'
    -- ==> add_subdirectory(realtime_tools)
    -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
    -- +++ processing catkin package: 'dynamixel_workbench_controllers'
    -- ==> add_subdirectory(dynamixel-workbench/dynamixel_workbench_controllers)
    -- +++ processing catkin package: 'dynamixel_workbench_operators'
    -- ==> add_subdirectory(dynamixel-workbench/dynamixel_workbench_operators)
    -- +++ processing catkin package: 'open_manipulator_control_gui'
    -- ==> add_subdirectory(open_manipulator/open_manipulator_control_gui)
    CMake Error at /usr/lib/x86_64-linux-gnu/cmake/Qt5Gui/Qt5GuiConfig.cmake:27 (message):
    The imported target "Qt5::Gui" references the file

    "/usr/lib/x86_64-linux-gnu/libEGL.so"

    but this file does not exist. Possible reasons include:

    * The file was deleted, renamed, or moved to another location.

    * An install or uninstall procedure did not complete successfully.

    * The installation package was faulty and contained

    "/usr/lib/x86_64-linux-gnu/cmake/Qt5Gui/Qt5GuiConfigExtras.cmake"

    but not all the files it references.

    Call Stack (most recent call first):
    /usr/lib/x86_64-linux-gnu/cmake/Qt5Gui/Qt5GuiConfigExtras.cmake:50 (_qt5_Gui_check_file_exists)
    /usr/lib/x86_64-linux-gnu/cmake/Qt5Gui/Qt5GuiConfigExtras.cmake:72 (_qt5gui_find_extra_libs)
    /usr/lib/x86_64-linux-gnu/cmake/Qt5Gui/Qt5GuiConfig.cmake:158 (include)
    /usr/lib/x86_64-linux-gnu/cmake/Qt5Widgets/Qt5WidgetsConfig.cmake:99 (find_package)
    open_manipulator/open_manipulator_control_gui/CMakeLists.txt:21 (find_package)


    -- Configuring incomplete, errors occurred!
    See also "/home/user/catkin_ws/build/CMakeFiles/CMakeOutput.log".
    See also "/home/user/catkin_ws/build/CMakeFiles/CMakeError.log".
    Makefile:318: recipe for target 'cmake_check_build_system' failed
    make: *** [cmake_check_build_system] Error 1
    Invoking "make cmake_check_build_system" failed

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