Installation

Index

Dependencies

We have tested this package with Ubuntu 16.04 64 bits and ROS Kinetic Kame.

To install the dependencies for this package run the following commands in a terminal:

sudo apt-get install \
        python-pip \
        protobuf-compiler \
        protobuf-c-compiler \
        ros-$ROS_DISTRO-control-toolbox \
        ros-$ROS_DISTRO-controller-interface \
        ros-$ROS_DISTRO-controller-manager \
        ros-$ROS_DISTRO-effort-controllers \
        ros-$ROS_DISTRO-force-torque-sensor-controller \
        ros-$ROS_DISTRO-gazebo-ros-control \
        ros-$ROS_DISTRO-joint-limits-interface \
        ros-$ROS_DISTRO-joint-state-publisher \
        ros-$ROS_DISTRO-joint-state-controller \
        ros-$ROS_DISTRO-joint-trajectory-controller \
        ros-$ROS_DISTRO-moveit-commander \
        ros-$ROS_DISTRO-moveit-core \
        ros-$ROS_DISTRO-moveit-planners \
        ros-$ROS_DISTRO-moveit-ros-move-group \
        ros-$ROS_DISTRO-moveit-ros-planning \
        ros-$ROS_DISTRO-moveit-ros-visualization \
        ros-$ROS_DISTRO-moveit-simple-controller-manager \
        ros-$ROS_DISTRO-position-controllers \
        ros-$ROS_DISTRO-rqt-joint-trajectory-controller \
        ros-$ROS_DISTRO-transmission-interface \
        ros-$ROS_DISTRO-velocity-controllers

pip install --user pyftpdlib
pip install --user --upgrade pyassimp

Create the YuMi ROS Workspace

mkdir -p yumi_depends_ws/src
cd yumi_depends_ws/src
catkin_init_workspace
cd ..
catkin_make
echo "export YUMI_WS='$(pwd)'" >> ~/.bashrc
echo "source $(pwd)/devel/setup.bash" >> ~/.bashrc

Clone the YuMi ROS packages

bash
cd $YUMI_WS/src
git clone https://github.com/OrebroUniversity/industrial_core.git
sed -i '4 i add_compile_options(-std=c++11)' industrial_core/industrial_trajectory_filters/CMakeLists.txt
git clone https://github.com/ros-industrial/abb.git
rm -rf abb/abb_irb4400_support abb/abb_resources
git clone https://github.com/kth-ros-pkg/yumi.git

If you are RPL staff you have access to the EGM interface. In this case, clone the following (private!) repository:

git clone git@gits-15.sys.kth.se:RPL-Internal/abb_experimental.git  ## You need to set up your KTH-git public key first

If you are not RPL staff, this open-source package enables you to use the ABB and RWS drivers. You can install those drivers by following the instructions here. To use EGM, you'll have to purchase it from ABB, and request support from them, not from KTH or any maintainer of this repository.

We regularly maintain a number of branches that contain particular features for projects within our lab. These are:

Branch name	Description	Features/Add-ons
egm_modifications	Bleeding edge support	RWS + EGM + gripper cameras + grippers
optodaq_sensors	Optoforce F/T sensors	F/T sensors embedded in RobotHW interface and URDF
project/FACT	SSF FACT project	Kinect, aluminium pedestal, custom URDF

If you want to checkout a specific branch, run:

cd $YUMI_WS/src/yumi
git checkout origin/<branch_name>       ## Replace <branch_name> with the branch you want to checkout

IMPORTANT: if you want to use the Optoforce 6 axis Force/Torque sensors you'll need to check out the YuMi branch '''optodaq_sensors''' and clone other repositories that contain the sensor drivers. For cloning the sensor dependencies, run:

cd $YUMI_WS/src
git clone https://github.com/kth-ros-pkg/optoforce.git
git clone https://github.com/kth-ros-pkg/optoforce_ros.git
git clone https://github.com/kth-ros-pkg/etherdaq_ros.git
git clone https://github.com/kth-ros-pkg/force_torque_tools

Build everything

bash
cd $YUMI_WS
catkin_make -DCMAKE_BUILD_TYPE=Release

Checkout recent changes in the yumi package

Warning: this will erase any changes you have made to the original yumi package. Hence, save any changes made to the repo before running the commands shown below.

cd $YUMI_WS
rm -rf build/ devel/
cd src/
rm -rf yumi
git clone https://github.com/kth-ros-pkg/yumi.git
cd yumi
git checkout origin/<branch_name>
cd $YUMI_WS
catkin_make -DCMAKE_BUILD_TYPE=Release