b-it-bots / mas_common_robotics

Robot-independent ROS packages

mas_common_robotics

Install Ubuntu

The repository and its related components have been tested under the following Ubuntu distributions:

• ROS Kinetic: Ubuntu 16.04

If you do not have a Ubuntu distribution on your computer you can download it here

 http://www.ubuntu.com/download

Git - Version Control

Install Git Software

Install the Git core components and some additional GUI's for the version control:

 sudo apt-get install git-core gitg gitk git-gui

Set Up Git

Now it's time to configure your settings. To do this you need to open a new Terminal. First you need to tell git your name, so that it can properly label the commits you make:

 git config --global user.name "Your Name Here"

Git also saves your email address into the commits you make.

 git config --global user.email "[email protected]"

GIT Tutorial

If you have never worked with git before, we recommend to go through the following basic git tutorial:

 http://excess.org/article/2008/07/ogre-git-tutorial/

ROS - Robot Operating System

Install ROS

The repository has been tested successfully with the following ROS distributions. Use the link behind a ROS distribution to get to the particular ROS installation instructions.

• ROS Kinetic - http://wiki.ros.org/kinetic/Installation/Ubuntu

NOTE: Do not forget to update your .bashrc!

ROS Tutorials

If you have never worked with ROS before, we recommend to go through the beginner tutorials provided by ROS:

 http://wiki.ros.org/ROS/Tutorials

In order to understand at least the different core components of ROS, you have to start from tutorial 1 ("Installing and Configuring Your ROS Environment") till tutorial 7 ("Understanding ROS Services and Parameters").

Getting started

The following instructions should get you a working system:

1. Setup a catkin workspace

mkdir -p ~/kinetic/src && cd ~/kinetic
wstool init src
wstool merge -t src https://raw.githubusercontent.com/b-it-bots/mas_common_robotics/kinetic/mas-common.rosinstall

2. Get the code and dependencies

  wstool update -t src
  rosdep install --from-paths src --ignore-src --rosdistro=kinetic -y

3. Building your code

cd ~/kinetic
catkin build

If no errors appear everything is ready to use. Great job!

mas_common_robotics's Issues

Remove dependency to mcr_perception_msgs

Seems like mcr_algorithms depends on mcr_perception_msgs only for the laser segmentation, couple of questions:

a) is this still being used?
b) should this be moved to mas_perception instead?

Create melodic branch

I started with melodic migration. Please create melodic branch so that I can create PRs. @argenos @sthoduka @deebuls

Get single pointcloud for tests in correct package

Instead of cloning the complete corresponding datasets repository, we should only get the file that is being used for the tests.

Refactoring mcr_environments

Since we are using the stable setup in @home, we cannot save the environments in the development workspace. One possible way to handle this is making this package an independent repository, the other one I can think of is creating mdr_environments and mir_environments but I think this defeats the purpose of having a common environment.

In addition to that, moving all the gazebo-related things to mas_simulation makes more sense. Thoughts?

Major refactoring of mcr_perception

We need to reorganize mcr_perception. We have several packages that are either for detection or recognition that would be easily grouped into fewer packages. For example:

• mcr_object_recognition_bounding_box and mcr_object_recognition_mean_circle, should be mcr_object_recognition with two or more nodes, i.e. bounding_box and mean_circle?

Fix tests for pregrasp planner

See b-it-bots/mas_industrial_robotics#17

Building errors with new KDL version

There seem to be some problems with the overlaying and the new KDL version. Both kdl_parser and orocos_kinematics_dynamics were in the same workspace, as per the README of mas_domestic_robotics.
Any ideas?

Errors     << mcr_arm_cartesian_control:make /home/argen/ros/test/logs/mcr_arm_cartesian_control/build.make.009.log                                                                  
/home/argen/ros/test/src/mas_common_robotics/mcr_manipulation/mcr_arm_cartesian_control/common/src/arm_cartesian_control.cpp: In member function ‘void arm_cc::Arm_Cartesian_Control::process(double, KDL::JntArray&, KDL::Twist&, KDL::JntArrayVel&, Eigen::VectorXd&)’:
/home/argen/ros/test/src/mas_common_robotics/mcr_manipulation/mcr_arm_cartesian_control/common/src/arm_cartesian_control.cpp:124:66: error: ‘class KDL::ChainIkSolverVel_wdls’ has no member named ‘getSigma’
     int error_sigma = ((KDL::ChainIkSolverVel_wdls*) ik_solver)->getSigma(sigma);
                                                                  ^
make[2]: *** [CMakeFiles/arm_cartesian_control.dir/common/src/arm_cartesian_control.cpp.o] Error 1
make[1]: *** [CMakeFiles/arm_cartesian_control.dir/all] Error 2
make: *** [all] Error 2

Travis checks not working

Just wanted to let you know I found an issue with our Travis checks.
I was checking pending PRs and found that Travis was getting stuck. The problem is this one here: travis-ci/travis-ci#10204

I have removed the Travis checks for now, and someone will need to configure it again. Seems right now this repo is stuck in the limbo, since we can't do the migration. Perhaps it's a good idea to contact Travis support.

clean up mcr_scene_segmentation

• roslint tests
• delete unused files
• write a test with a sample pointcloud

Migrate mcr_trajectory_time_parameterizer to kinetic

@sthoduka @deebuls can you guys ask someone from @b-it-bots/work to help migrate this? Maybe @abhishek098 can help? The @home guys have taken care of the rest of the packages (I think we're missing just one)

pcl_wrapper headers cannot be found when using an install space

How to test this:

catkin config --install
catkin build

It can then be reverted by

catkin config --no-install

Migrate mcr_people_following to kinetic

Either that or update with new version. This might actually belong in mas_domestic instead of here.

Use collision velocity filter output in direct base controller

See: https://github.com/b-it-bots/mas_common_robotics/tree/kinetic/mcr_navigation/mcr_collision_velocity_filter

I'm not sure if this works in simulation, so you might have to test this on the robot.

libsvm error

I was trying to build packages in mas_common_robotics, I got this error:

In file included from /home/ramesh/github/erl_workspace/src/mas_common_robotics/mcr_common/mcr_algorithms/common/src/machine_learning/svm_trainer.cpp:1:0:
/home/ramesh/github/erl_workspace/src/mas_common_robotics/mcr_common/mcr_algorithms/common/include/mcr_algorithms/machine_learning/svm_trainer.h:4:24: fatal error: libsvm/svm.h: No such file or directory
compilation terminated.
In file included from /home/ramesh/github/erl_workspace/src/mas_common_robotics/mcr_common/mcr_algorithms/common/src/machine_learning/svm_classifier.cpp:1:0:
/home/ramesh/github/erl_workspace/src/mas_common_robotics/mcr_common/mcr_algorithms/common/include/mcr_algorithms/machine_learning/svm_classifier.h:4:24: fatal error: libsvm/svm.h: No such file or directory

Does anyone of you faced this issue?