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Installation
The installation as follows was tested on Ubuntu 14.04 with ROS Indigo and Jade.
Follow the installation instructions given in the joint-control-pkgs wiki.
Addionally to the dependencies installed with joint-control-pkgs, you will need the following packages:
- gazebo_ros_control
- optional: MoveIt!. You will need MoveIt! only for the tutorials. It is not required to compile the packages.
- This repository itself: jaco-arm-pkgs
Additionally, you can, but do not have to, install the common_sensors package. You will only need this if you would like to use the sensor in the tutorials, which is not the default setting. Follow instructions in the README here to install the packages.
On Ubuntu/debian, you may install the ROS packages using the package manager
sudo apt-get install ros-<distro>-gazebo-ros-control
Note: On ROS Jade, gazebo-ros-control is not available yet at this point in time, so will have to put it in your the catkin ws, only for Jade:
cd <catkin_ws>/src
git clone https://github.com/ros-simulation/gazebo_ros_pkgs.git
You only need to keep the directory gazebo_ros_control in this repository.
[optional] Install MoveIt! for the tutorials
This is not required to compile, but you will need it as runtime dependency if you want to do the MoveIt! tutorial.
sudo apt-get install \
ros-<distro>-moveit-core \
ros-<distro>-moveit-ros \
ros-<distro>-moveit-planners-ompl \
ros-<distro>-moveit-fake-controller-manager \
ros-<distro>-moveit-simple-controller-manager \
Add the git repository to your catkin workspace:
cd <your-catkin-ws>/src
git clone https://github.com/JenniferBuehler/jaco-arm-pkgs.git
Hint: Alternatively to cloning the repositry directly into the catkin source folder, you
may also clone the repositories elsewhere and then create a softlink to the main folders
in your catkin source directory:
ln -s <path to jaco-arm-pkgs>
Compile
To compile, you can now use catkin_make as usual:
cd ..
catkin_make