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--- installation:full [2013/12/11 20:03] – created gkazhoya
+++ installation:full [2013/12/11 20:07] (current) – removed gkazhoya
@@ Line 1: / Line 1: @@
-====== CRAM installation ======
-If you don't have the core CRAM components installed yet, check [[installation|here]] first.
-===== Major CRAM Packages =====
-  * Go to your catkin workspace and use wstool to pull the catkinized CRAM packages from GIT.
-    cd ~/workspace/catkin/src
-    wstool init
-    wstool set cram_NAME --git https://github.com/cram-code/cram_NAME.git
-where NAME is at the moment ''core'', ''3rdparty''.
-    wstool update
-    rospack profile
-    source ~/.bashrc
-  * Install the packages with rosdep (although at the moment there are probably no system dependencies in those packages, so you can skip this step)
-    rosdep install cram_NAME
-  * Catkin_make all the packages
-    cd ..
-    catkin_make
-  * Go to your rosbuild workspace and use wstool to pull the remaining CRAM stacks from GIT: ''cram_highlevel'', ''cram_physics'', ''cram_pr2'', ''cram_WHATEVER_ELSE_YOU_MIGHT_NEED''.
-    cd ~/workspace/rosbuild
-    wstool set cram_NAME --git https://github.com/cram-code/cram_NAME.git
-    wstool update
-    rospack profile
-    source setup.bash
-where NAME: ''highlevel, physics, pr2, ...''
-  * Rosmake and install all the CRAM packages
-    rosdep install cram_NAME
-    rosmake cram_NAME
-  * The ''rosmake'' will probably not work for some stacks, what a surprise. (If all the stacks you need compiled successfully, you can skip this step.) One thing you can do about that is to install KnowRob: packages in ''cram_highlevel'' that use the knowledge base have dependencies on the KnowRob package ''json_prolog'' and some other things related to the semantic maps. To install KnowRob you will also need ''rosjava_jni'':
-    roscd
-    wstool set rosjava_jni --git https://github.com/gheorghelisca/rosjava_jni
-    wstool set knowrob --git https://github.com/knowrob/knowrob
-    wstool update
-    rospack profile
-    source ~/.bashrc
-    rosdep install rosjava_jni
-    rosmake rosjava_jni
-    rosdep install knowrob
-    rosmake knowrob
-If you have a problem with ''rosdep'' as I always do, you can as well install the missing dependencies manually. Use ''rosdep check STACK_NAME'' to find out what's needed.
-Another set of dependencies is on ''moveit_msgs'' (''arm_navigation_msgs'' in the past). So you might want to install MoveIt:
-    sudo apt-get install ros-hydro-moveit-full
-    rospack profile
-    source ~/.bashrc
-And then try to compile CRAM again.
-    rosmake cram_STACK
-If you're getting ''autoconf'' error messages, do ''sudo apt-get install autoconf''. (<- this should go into FAQ)
-Or, you can as well try to compile only those packages from the stack that you need:
-    roscd cram_PACKAGE
-    rosmake
-  * If you for some reason will want to have the sources of the ROS Lisp packages, they can be found here: ''https://github.com/ros/roslispNAME.git'', where NAME: ''common'', ''repl'' or nil. You can clone them into your catkin workspace just like you did with the catkinized CRAM packages.