Installation

The installation as follows was tested on Ubuntu 14.04 with ROS Indigo and Jade.

Step 1. Install required system packages (only required on ROS Jade at this point in time)

Following system libraries are required if you would like to use the specified packages.

• gazebo (ubuntu package libgazebo{version}-dev, using the version number for your ROS release)

For example, if you are on Ubuntu/Debian and ROS Jade, install them with:

sudo apt-get install libgazebo5-dev

Step 2. Install required catkin packages

The following catkin packages are required:

• Standard ROS packages incl. xacro and urdf
• gazebo_ros
• gazebo_ros_control
• [roslint][http://wiki.ros.org/roslint] (only while the packages are still in beta)
• 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.

Install dependencies

On Ubuntu/debian, you may install the ROS packages using the package manager

sudo apt-get install \
    ros-<distro>-gazebo-ros \
    ros-<distro>-gazebo-ros-control \
    ros-<distro>-roslint

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-planners-ompl \
    ros-<distro>-moveit-fake-controller-manager \
    ros-<distro>-moveit-simple-controller-manager \

Install jaco-arm-pkgs

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

Step 3 [Optional]. Generate doxygen documentation

You can generate doxygen documentation for the following packages:

catkin_make jaco_joints_doc
catkin_make jaco_gazebo_doc

the documentation will be generated in the directories:

<your-catkin-ws>/build/jaco-arm-pkgs/<package-name>/docs/html/

When installing the packages with catkin_make install, the documentation will install into the CATKIN_PACKAGE_SHARE_DESTINATION/doc destination.