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--- tutorials:pycram:setup [2021/07/16 10:52] – jdech
+++ tutorials:pycram:setup [2022/02/01 15:57] (current) – [PyCRAM on Ubuntu 20.04 (ROS Noetic)] jdech
@@ Line 8: / Line 8: @@
 All dependencies are available via PyPi
-PyCRAM is developed and tested with Python3.8, Ubuntu 20.04 and ROS Melodic.
+PyCRAM is developed and tested currently with Python3.8, Ubuntu 20.04 and ROS Noetic. However, it does still support Ubuntu 18.04 and ROS Melodic. Please see below for installation instructions for both variants.
 ===== Installing ROS =====
 PyCRAM uses ROS for a variety of functionality, for this reason you need a working ROS installation on your machine.
-For information on how to install ROS please referee to the offical documentation [[http://wiki.ros.org/ROS/Installation | here]].
+For information on how to install ROS please referee to the official documentation [[http://wiki.ros.org/ROS/Installation | here]].
-===== Dependencies =====
+===== Installing Dependencies =====
-To install PyCRAM firstly the required packages must be installed. These are:
+The dependencies you will need are:
     * Pip
-    * CRAM/kdl_ik_service
+    * vcstool
-    * pybullet
+These are available via the Ubuntu apt-repos and can be installed via the terminal:
-    * Pathlib
+<code bash>
-    * numpy
+sudo apt-get install python3-pip python3-vcstool
-    * urdfpy
+</code>
-    * graphviz
-    * urdf-parser-py
-Firstly Pip needs to be installed, on Ubuntu this can be done vie the following command:
+===== PyCRAM on Ubuntu 20.04 (ROS Noetic) =====
-<code>sudo apt-get install python3-pip</code>
+Before installing PyCRAM you need to setup a ROS workspace into which PyCRAM can be cloned.
+<code>
+mkdir -p ~/workspace/ros/src
+cd workspace/ros
+catkin_make
+source devel/setup.bash
+</code>
-PyCRAM uses the the KDL Inverse Kinematic service of CRAM, to use the IK service CRAM needs to be installed. For instructions on how to install CRAM click [[../../installation | here]].
+If ''catkin_make'' does not work this probably means that you did not source your ROS installation, which is needed for ''catkin_make'':
+<code bash>
+source /opt/ros/noetic/setup.bash
+</code>
+Now you can install PyCRAM into your ROS workspace.
-The rest can be installed using Pip by typing the following command into a terminal:
+<code bash>
-<code>pip3 install <DEPENDENCY> </code>
-===== PyCRAM =====
-To get PyCRAM simply clone the repository with the following command into your ROS workspace:
-<code>
 cd <Path to your ROS workspace>
 cd src/
-git clone https://github.com/cram2/pycram.git
+vcs import --input https://raw.githubusercontent.com/cram2/pycram/dev-noetic/pycram.rosinstall
-cd pycram/
+</code>
+The cloning and setting up can take several minutes. After the command finishes you should see a number of repositories in your ROS workspace.
+Now the last thing that needs to be done is clone the submodules of the PyCRAM repo, this is done via the following commands:
+<code bash>
+cd pycram
 git submodule init
 git submodule update
@@ Line 46: / Line 55: @@
 The cloned repository contains the source code for PyCRAM as well as two short demos which demonstrate how to use it.
+===== Python Dependencies =====
+To install the Python dependencies Pip is used. To install Pip type the following command into a terminal.
+<code>
+sudo apt-get install python3-pip
+</code>
+Now the actual Python packages can be installed, these are summarized in the requirements.txt in the PyCRAM repo.
+For this first navigate to your PyCRAM repo.
+<code>
+cd <path-to-your-pycram-repo>
+</code>
+Then install the Python packages in the requirements.txt file
+<code>
+sudo pip install -r requirements.txt
+</code>
 ===== Building your ROS workspace =====
@@ Line 51: / Line 77: @@
 You can build your ROS workspace with the following commands:
-<code>
+<code bash>
 cd <Path to your ROS workspace>
 catkin_make
@@ Line 57: / Line 83: @@
 </code>
-===== PyCRAM on Ubuntu 18.04 =====
+===== PyCRAM on Ubuntu 18.04 (ROS Melodic) =====
 To be able to use PyCRAM on Ubuntu 18.04 you need a few extra steps because ROS melodic doesn't fully support Python 3. The first thing you need to do is install Python3 pip.
 <code>
 apt-get install python3-pip
 </code>
@@ Line 69: / Line 95: @@
 ==== Build Tf for Python 3 ====
 Firstly you need to clone the geometry and geometry2 repos into your ROS workspace and select the melodic branches.
 <code>
 cd ur_ros_ws/src
 git clone git@github.com:ros/geometry.git
@@ Line 75: / Line 101: @@
 git checkout melodic-devel
 cd ..
 git clone git@github.com:ros/geometry2.git
+cd geometry2
 git checkout melodic-devel
 </code>
@@ Line 91: / Line 118: @@
 <code>
 echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc && echo "source $(pwd)/devel/setup.bash" >> ~/.bashrc
+</code>
+==== Build PyKDL for Python 3 ====
+Now you need to build PyKDL as well as kdl_parser_py for Python 3.  This is done in two distinctive steps, first build orocos_kdl using cmake outside of your catkin workspace and then building your catkin workspace containing PyKDL and kdl_parser_py for Python 3.
+First clone the orocos kinematics dynamicas Repo, outside of your catkin workspace.
+<code>
+git clone git@github.com:orocos/orocos_kinematics_dynamics.git
+</code>
+Now build the orocos_kdl library, by pasting the following commands in a terminal.
+<code>
+cd orocos_kinematics_dynamics/orocos_kdl
+mkdir build
+cd build
+cmake ..
+make
+sudo make install
+</code>
+Now all you have to do is copy the PyKDL package from the orocos kinematics dynamics folder to your catkin workspace, clone the kdl_parser_py and build.
+<code>
+cd orocos_kinematics_dynamics
+git submodule update --init
+cp python_orocos_kdl path/to/your/catkin/workspace
+cd <path to yourt catkin workspace>/python_orocos_kdl
+cd ../
+</code>
+This will copy python orocos kdl into your catkin workspace and clone the submodules contained in the repo. Now we have to clone the kdl_parser_py and build.
+<code>
+git clone git@github.com:ros/kdl_parser.git
+cd ../..
+catkin_make -DPYTHON_EXECUTABLE=/usr/bin/python3.6
 </code>