CRAM installation

If you don't have the core CRAM components installed yet, check here first.

• 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.