72 lines
3.2 KiB
ReStructuredText
72 lines
3.2 KiB
ReStructuredText
Installation of the ur_robot_driver
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===================================
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You can either install this driver from binary packages as shown above or build it from source. We
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recommend a binary package installation unless you want to join development and submit changes.
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Install from binary packages
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----------------------------
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1. `Install ROS2 <https://docs.ros.org/en/rolling/Installation/Ubuntu-Install-Debians.html>`_. This
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branch supports only ROS2 Rolling. For other ROS2 versions, please see the respective branches.
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2. Install the driver using
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.. code-block:: bash
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sudo apt-get install ros-${ROS_DISTRO}-ur
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Build from source
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-----------------
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Before building from source please make sure that you actually need to do that. Building from source
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might require some special treatment, especially when it comes to dependency management.
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Dependencies might change from time to time. Upstream packages (such as the library) might change
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their features / API which require changes in this repo. Therefore, this repo's source builds might
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require upstream repositories to be present in a certain version as otherwise builds might fail.
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Starting from scratch following exactly the steps below should always work, but simply pulling and
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building might fail occasionally.
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1. `Install ROS2 <https://docs.ros.org/en/rolling/Installation/Ubuntu-Install-Debians.html>`_. This
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branch supports only ROS2 Rolling. For other ROS2 versions, please see the respective branches.
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Once installed, please make sure to actually `source ROS2 <https://docs.ros.org/en/rolling/Tutorials/Beginner-CLI-Tools/Configuring-ROS2-Environment.html#source-the-setup-files>`_ before proceeding.
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3. Make sure that ``colcon``, its extensions and ``vcs`` are installed:
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.. code-block:: bash
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sudo apt install python3-colcon-common-extensions python3-vcstool
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4. Create a new ROS2 workspace:
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.. code-block:: bash
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export COLCON_WS=~/workspace/ros_ur_driver
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mkdir -p $COLCON_WS/src
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5. Clone relevant packages (replace ``<branch>`` with ``humble``, ``iron`` or ``main`` for rolling), install dependencies, compile, and source the workspace by using:
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.. code-block:: bash
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cd $COLCON_WS
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git clone -b <branch> https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver.git src/Universal_Robots_ROS2_Driver
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vcs import src --skip-existing --input src/Universal_Robots_ROS2_Driver/Universal_Robots_ROS2_Driver-not-released.${ROS_DISTRO}.repos
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rosdep update
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rosdep install --ignore-src --from-paths src -y
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colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
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source install/setup.bash
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6. When consecutive pulls lead to build errors it is possible that you'll have to build an upstream
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package from source, as well. See the [detailed build status](ci_status.md). When the binary builds are red, but
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the semi-binary builds are green, you need to build the upstream dependencies from source. The
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easiest way to achieve this, is using the repos file:
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.. code-block:: bash
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cd $COLCON_WS
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vcs import src --skip-existing --input src/Universal_Robots_ROS2_Driver/Universal_Robots_ROS2_Driver.${ROS_DISTRO}.repos
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rosdep update
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rosdep install --ignore-src --from-paths src -y
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