Intallation

Installation instructions

The following section will explain the required steps to bring the project to work.

Initially this repository support ROS Kinetic and newer distributions.

Prerequisites

• ROS Kinetic: For obtaining and configuring ROS follow the installation instructions for full-desktop kinetic installation.
• Catkin workspace: If you don't have a workspace already configured follow this instructions to create one (it is recommended to create it in a directory where you have full access permissions).

Required Repositories

Clone this and the following repositories in your catkin workspace:

• Motoman packages
• Betha-Robots
• Robotiq (After cloning remove the robotiq_force_torque_sensor package and robotiq_s_...gazebo packages)

For most of this repositories installation through apt-get or synaptic is not possible

2. Run the following commands on your terminal:

# Install third party dependencies
sudo apt-get update
sudo apt-get install libmodbus-dev ros-kinetic-soem ros-kinetic-controller-manager ros-kinetic-socketcan-interface ros-kinetic-joint-limits-interface
# Move to root of workspace
cd [path_to_your_catkin_package]
# Install all dependencies of packages in workspace
rosdep install --from-paths src --ignore-src -r -y
# Build your workspace
catkin_make
source devel/setup.bash

Once the workspace build process is completed you are ready to start playing...have fun.