Differences

This shows you the differences between two versions of the page.

--- tutorials:pycram:setup [2021/07/30 12:37] – jdech
+++ tutorials:pycram:setup [2022/02/01 15:57] (current) – [PyCRAM on Ubuntu 20.04 (ROS Noetic)] jdech
@@ Line 12: / Line 12: @@
 ===== 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:
-<code>sudo apt-get install python3-pip</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]].
-The rest can be installed using Pip by typing the following command into a terminal:
-<code>pip3 install <DEPENDENCY> </code>
 ===== PyCRAM on Ubuntu 20.04 (ROS Noetic) =====
-To get PyCRAM simply clone the repository with the following command into your ROS workspace:
+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>
+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.
+<code bash>
 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