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pycram:installation [2022/02/23 09:41] – created jdechpycram:installation [2023/08/15 13:55] (current) – arthur
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 +For more details, visit [[https://pycram.readthedocs.io/en/latest/|the official PyCRAM Read the Docs]].
 +
 ====== Installing PyCRAM ====== ====== Installing PyCRAM ======
 The setup of PyCRAM can be differentiated in four steps: The setup of PyCRAM can be differentiated in four steps:
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 All dependencies are available via PyPi All dependencies are available via PyPi
  
-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. +PyCRAM is developed and tested currently with Python3.8, Ubuntu 20.04 and ROS Noetic.
 ===== Installing ROS ===== ===== Installing ROS =====
 PyCRAM uses ROS for a variety of functionality, for this reason you need a working ROS installation on your machine.  PyCRAM uses ROS for a variety of functionality, for this reason you need a working ROS installation on your machine. 
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 cd <Path to your ROS workspace> cd <Path to your ROS workspace>
 cd src/ cd src/
-vcs import --input https://raw.githubusercontent.com/cram2/pycram/dev-noetic/pycram.rosinstall+vcs import --input https://raw.githubusercontent.com/cram2/pycram/dev/pycram.rosinstall --recursive 
 +rosdep update 
 +rosdep install --ignore-src --from-paths . -r 
 +cd .. 
 +catkin_make
 </code> </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.  The cloning and setting up can take several minutes. After the command finishes you should see a number of repositories in your ROS workspace. 
 +<html> 
 +<!--
 Now the last thing that needs to be done is clone the submodules of the PyCRAM repo, this is done via the following commands: 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> <code bash>
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 git submodule update git submodule update
 </code> </code>
- +--> 
 +</html>
 The cloned repository contains the source code for PyCRAM as well as two short demos which demonstrate how to use it.  The cloned repository contains the source code for PyCRAM as well as two short demos which demonstrate how to use it. 
  
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 <code> <code>
 sudo pip install -r requirements.txt sudo pip install -r requirements.txt
 +sudo pip install -r src/neem_interface_python/requirements.txt
 </code> </code>
  
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 source devel/local_setup.bash source devel/local_setup.bash
 </code>  </code> 
 +
 +===== Using PyCRAM =====
 +To start using PyCRAM you first need to launch the ROS launch file. This launchfile is located in the directory "launch" and is named "ik_and_description.launch". 
 +
 +The launchfile can be started with the following command:
 +<code>
 +roslaunch pycram ik_and_description.launch
 +</code>
 +
 +What the launch file does is start a ROS master, upload the robot URDF to the parameter server as well as starting the IK solver. 
 +
 +** Disclaimer **
 +At the moment you also need a knowrob node running for PyCRAM to start. This is because while importing packages some will look for the rosprolog services. You don't need a belief state, it only requires the rosprolog services to be reachable.
 +
 +
 +
 +<html> 
 +<!---
  
 ===== PyCRAM on Ubuntu 18.04 (ROS Melodic) ===== ===== PyCRAM on Ubuntu 18.04 (ROS Melodic) =====
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 catkin_make -DPYTHON_EXECUTABLE=/usr/bin/python3.6 catkin_make -DPYTHON_EXECUTABLE=/usr/bin/python3.6
 </code> </code>
 +--> 
 +</html>