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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][joint-control-pkgs-wiki-install].
Addionally to the dependencies installed with joint-control-pkgs, you will need the following packages:
- [gazebo_ros_control][gazebo_ros_control]
- optional: (only for the tutorials, not required to compile packages)
On Ubuntu/debian, you may install the ROS packages using the package manager
sudo apt-get install ros-<distro>-gazebo-ros-control
[optional] Install common_sensors
Additionally, you can, but do not have to, install the [common_sensors][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][common_sensors] to install the packages.
[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][jaco_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
Noetic only: joint state publisher gui (only needed for tutorials)
If you are on Noetic/Ubuntu 20.04, you will have to install the joint state publisher gui
sudo apt install joint-state-publisher-gui
You will also need to do a manual adjustment of a launch file, to load the joint state publisher gui. In the following file:
rosed jaco_description jaco_gazebo.launch
Replace joint_state_publisher by joint_state_publisher_gui, as follows:
<node if="$(arg load_joint_state_publisher)" name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui">
<param name="use_gui" value="true" />
<param name="rate" value="10" />
<remap from="joint_states" to="$(arg joint_state_publisher_topic)" />
</node>
For reasons of backwards compatibility, this fix will only be applied to the master branch once Noetic becomes the standard. [ros_control]: http://wiki.ros.org/ros_control [gazebo_ros_control]: http://wiki.ros.org/gazebo_ros_control [gazebo_ros]: http://wiki.ros.org/gazebo_ros [jaco_moveit_tutorial]: https://github.com/JenniferBuehler/jaco-arm-pkgs/wiki/Testing-Jaco-with-MoveIt [jaco_joints]: https://github.com/JenniferBuehler/jaco-arm-pkgs/tree/master/jaco_arm/jaco_joints [jaco_gazebo]: https://github.com/JenniferBuehler/jaco-arm-pkgs/tree/master/jaco_arm/jaco_gazebo [kinova_ros]: https://github.com/Kinovarobotics/kinova-ros [common_sensors]: https://github.com/JenniferBuehler/common-sensors [gazebo-pkgs]: https://github.com/JenniferBuehler/gazebo-pkgs [roslint]: http://wiki.ros.org/roslint [arm_components_name_manager]: https://github.com/JenniferBuehler/convenience-pkgs/tree/master/arm_components_name_manager [convenience_math_functions]: https://github.com/JenniferBuehler/convenience-pkgs/tree/master/convenience_math_functions [convenience-pkgs]: https://github.com/JenniferBuehler/convenience-pkgs [joint-control-pkgs]: https://github.com/JenniferBuehler/joint-control-pkgs [joint-control-pkgs-wiki]: https://github.com/JenniferBuehler/joint-control-pkgs/wiki [joint-control-pkgs-wiki-install]: https://github.com/JenniferBuehler/joint-control-pkgs/wiki/Install