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installation [2018/03/26 11:05] – [Get ready for development] gkazhoya | installation [2023/05/12 08:32] – [Prerequisites] arthur | ||
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====== CRAM installation ====== | ====== CRAM installation ====== | ||
+ | |||
+ | ===== Quickstart with Docker ===== | ||
+ | |||
+ | For a quick peek into CRAM, check out [[https:// | ||
===== Prerequisites ===== | ===== Prerequisites ===== | ||
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== OS and ROS == | == OS and ROS == | ||
- | The recommended setup is Ubuntu | + | The recommended setup is Ubuntu |
This is the setup under which the CRAM team is working and it is best supported. | This is the setup under which the CRAM team is working and it is best supported. | ||
- | Most CRAM components should also work on older Ubuntu versions under ROS Indigo | + | Most CRAM components should also work on older Ubuntu versions under ROS Kinetic |
If you don't have the latest version of ROS, [[http:// | If you don't have the latest version of ROS, [[http:// | ||
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</ | </ | ||
- | where '' | + | where '' |
For information on how to use the IDE check the [[http:// | For information on how to use the IDE check the [[http:// | ||
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You will need those for setting up the ROS workspace and checking out code. | You will need those for setting up the ROS workspace and checking out code. | ||
+ | __**18.04 / Melodic: | ||
<code bash> | <code bash> | ||
$ sudo apt-get install python-rosinstall python-wstool | $ sudo apt-get install python-rosinstall python-wstool | ||
</ | </ | ||
+ | __**20:04 / Noetic: | ||
+ | <code bash> | ||
+ | $ sudo apt-get install python3-wstool | ||
+ | </ | ||
===== Installation ===== | ===== Installation ===== | ||
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--></ | --></ | ||
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+ | |||
+ | |||
This is a guide for installing the main CRAM packages. It covers installing the packages you need to get the system up and running to the point where you can run and test it in a simulation mode. Setting up the system on a real robot is more complex (mostly involving the usual ROS-based platform setup) and is out of scope of this guide. | This is a guide for installing the main CRAM packages. It covers installing the packages you need to get the system up and running to the point where you can run and test it in a simulation mode. Setting up the system on a real robot is more complex (mostly involving the usual ROS-based platform setup) and is out of scope of this guide. | ||
- | Nevertheless, | + | Nevertheless, |
=== ROS workspace setup === | === ROS workspace setup === | ||
Skip this part if you already have a ROS workspace. | Skip this part if you already have a ROS workspace. | ||
+ | |||
+ | |||
+ | |||
< | < | ||
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</ | </ | ||
--></ | --></ | ||
+ | |||
+ | |||
If you don't have a ROS workspace, please create one. For example, you can do the following: | If you don't have a ROS workspace, please create one. For example, you can do the following: | ||
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</ | </ | ||
+ | |||
+ | === CRAM and dependencies installation (ROS Noetic Ubuntu 20.04) === | ||
+ | |||
+ | Please checkout the [[https:// | ||
+ | |||
+ | <code bash> | ||
+ | $ sudo apt install ros-noetic-roslisp-repl | ||
+ | $ sudo apt-get install python-rosinstall python-wstool | ||
+ | $ cd ~/ | ||
+ | $ wstool init | ||
+ | $ wstool merge https:// | ||
+ | $ wstool update | ||
+ | $ cd ~/ | ||
+ | $ rosdep update | ||
+ | $ rosdep install --ignore-src --from-paths src/ -r | ||
+ | $ catkin_make | ||
+ | </ | ||
+ | |||
+ | === CRAM and dependencies installation (ROS Melodic Ubuntu 18.04) === | ||
+ | |||
+ | Check out and compile all the necessary repositories: | ||
+ | |||
+ | <code bash> | ||
+ | $ cd ~/ | ||
+ | $ wstool init | ||
+ | $ wstool merge https:// | ||
+ | $ wstool update | ||
+ | $ cd ~/ | ||
+ | $ rosdep update | ||
+ | $ rosdep install --ignore-src --from-paths src/ -r | ||
+ | $ catkin_make | ||
+ | </ | ||
+ | |||
+ | Note that the '' | ||
+ | |||
+ | For ROS melodic and the current packages, one thing needs to be fixed. The package '' | ||
+ | <code bash> | ||
+ | roscd octomap | ||
+ | sudo nano package.xml | ||
+ | </ | ||
+ | |||
+ | Now remove the following line within: | ||
+ | <code xml> | ||
+ | < | ||
+ | </ | ||
+ | |||
+ | The installation is finished, please continue to the section **Get ready for development** down below. | ||
+ | |||
+ | If something went wrong consult the [[/ | ||
=== CRAM and dependencies installation (ROS Kinetic Ubuntu 16.04) === | === CRAM and dependencies installation (ROS Kinetic Ubuntu 16.04) === | ||
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$ wstool merge https:// | $ wstool merge https:// | ||
$ wstool update | $ wstool update | ||
+ | $ touch iai_maps/ | ||
$ cd ~/ | $ cd ~/ | ||
$ rosdep update | $ rosdep update | ||
- | $ rosdep install --ignore-src --from-paths src/ | + | $ rosdep install --ignore-src --from-paths src/ -r |
$ catkin_make | $ catkin_make | ||
</ | </ | ||
- | Note that the '' | + | Note that the '' |
< | < | ||
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</ | </ | ||
+ | < | ||
KnowRob seems to have some issues with Java 7, so if the compilation step below complains about rosjava or gradle, [[https:// | KnowRob seems to have some issues with Java 7, so if the compilation step below complains about rosjava or gradle, [[https:// | ||
+ | --></ | ||
Next step is to check out and compile all the necessary repositories: | Next step is to check out and compile all the necessary repositories: | ||
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If something went wrong consult the [[/ | If something went wrong consult the [[/ | ||
+ | ==== Windows Install ==== | ||
+ | - Enable Hardware Virtualization in your BIOS settings | ||
+ | - [[https:// | ||
+ | - Enable the WSL 2 feature in '' | ||
+ | - Set Firewall to allow WSL comunication. Easiest way is by disabling Firewall for public networks, or add a rule for WSL. | ||
+ | - [[https:// | ||
+ | - Import the image into WSL from Powershell with < | ||
+ | - Set the image as default with < | ||
+ | - Launch Ubuntu-20.04 from the windows menu. The username and password is '' | ||
+ | - '' | ||
+ | - '' | ||
+ | |||
+ | Happy hacking! | ||
+ | |||
+ | === How to launch the Jupyter Notebook === | ||
+ | |||
+ | - '' | ||
+ | - '' | ||
+ | - Open the URL in your browser | ||
===== Get ready for development ===== | ===== Get ready for development ===== |