ROS noetic and moveit-instructions

Instructions to install moveit from source if you are using a virtualbox.

Remember that opening the terminal to access bash is as easy as pressing ctrl+alt+T at the same time.

ROS NOETIC INSTALL

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sudo apt-get install python3-pip -y
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

Set up your keys

sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

Installation

sudo apt update -y
sudo apt install ros-noetic-desktop-full -y
echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
source ~/.bashrc

MOVEIT INSTALL

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STEP 1

get Ubuntu 20.04 and install ROS Noetic

Get the latest versions of ROS packages installed:

sudo apt install python3-rosdep2 -y
rosdep update
sudo apt update -y
sudo apt dist-upgrade  -y

Source installation requires wstool, catkin_tools, and optionally clang-format:

sudo apt install python3-wstool python3-catkin-tools clang-format-10 -y

go to where you want the installation

mkdir $HOME/workspace/ws_moveit -p
cd $HOME/workspace/ws_moveit 

STEP 2

Download Source Code

Pull down required repositories and build from within the root directory of your catkin workspace:

wstool init src
wstool merge -t src https://raw.githubusercontent.com/ros-planning/moveit/master/moveit.rosinstall
wstool update -t src
rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO}
sudo apt-get install python3-osrf-pycommon python3-catkin-tools -y
catkin config --extend /opt/ros/${ROS_DISTRO} --cmake-args -DCMAKE_BUILD_TYPE=Release

Note October 2020 Until the next ROS release sync, you will need to install ros-noetic-fcl manually from the ros-testing repositories:

sudo apt install ros-noetic-fcl -y

STEP 3

Build MoveIt

we shouldn't have to run this funny looking catkin_make but if allowed a clean build. reference

# sudo apt install ros-noetic-rostest -y # only uncomment this if it it didn't get downloaded before for some weird reason and catkin_make doesn't work
catkin_make -DPYTHON_EXECUTABLE=/usr/bin/python3

Source the Catkin Workspace

Setup your environment - you can do this every time you work with this particular source install of the code, or you can add this to your .bashrc (recommended):

source ~/workspace/ws_moveit/devel/setup.bash 

STEP 4

lets party

Open another terminal and make sure it's pointing to the same directory and has the necessary environment variables.

cd ~/workspace/ws_moveit
source /opt/ros/noetic/setup.bash
source ~/workspace/ws_moveit/devel/setup.bash 

In that same terminal

roslaunch panda_moveit_config demo.launch

In the original terminal run the following after the previous command is fully loaded

sudo apt install ros-noetic-rosbash -y
rosrun moveit_tutorials pick_place_tutorial

STEP DONE

try the other demo's

Move Group C++ Interface Running the Code Open two shells. In the first shell start RViz and wait for everything to finish loading:

roslaunch panda_moveit_config demo.launch

In the second shell, run the launch file:

roslaunch moveit_tutorials move_group_interface_tutorial.launch

Move Group Python Interface Start RViz and MoveGroup node Open two shells. Start RViz and wait for everything to finish loading in the first shell:

roslaunch panda_moveit_config demo.launch

Now run the Python code directly in the other shell using rosrun. Note in some instances you may need to make the python script executable:

rosrun moveit_tutorials move_group_python_interface_tutorial.py

NEXT TIME YOU WANT TO RUN MOVE-IT, FOLLOW THESE STEPS:

1. Open a terminal and run the below commands

cd ~/workspace/ws_moveit
source /opt/ros/noetic/setup.bash
source ~/workspace/ws_moveit/devel/setup.bash 
roslaunch panda_moveit_config demo.launch

2. Open another terminal and run the below commands

source ~/workspace/ws_moveit/devel/setup.bash 
roslaunch moveit_tutorials move_group_interface_tutorial.launch

3. If you make changes to the CPP file, run the below commands before doing steps 1 and 2

cd ~/workspace/ws_moveit
catkin_make -DPYTHON_EXECUTABLE=/usr/bin/python3

enjoy :)