cobottaのrosのメモ（Kineticの例…）

cobottaのrosのメモ（Melodicの失敗例）により，Ubuntu 16.04で試してみました．

sudo apt-get update; sudo apt-get upgrade; sudo apt-get disst-upgrade;
sudo apt-get remove libreoffice-base-core libreoffice-common
sudo apt-get autoremove

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver 'hkp://ha.pool.sks-keyservers.net:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
sudo apt-get update

sudo apt-get install git vim vncviewer
sudo update-alternatives --config editor

sudo apt-get install ros-kinetic-desktop-full
sudo rosdep init
rosdep update
echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
source ~/.bashrc
sudo apt-get install python-rosinstall python-genmsg
sudo apt-get install ros-kinetic-moveit ros-kinetic-controller-manager ros-kinetic-joint-limits-interface ros-kinetic-transmission-interface ros-kinetic-realtime-tools 


git clone https://github.com/DENSORobot/denso_robot_ros/
git clone https://github.com/DENSORobot/denso_cobotta_ros/

cd denso_robot_ros
for DIR in bcap_core bcap_service denso_robot_core denso_robot_control denso_robot_descriptions; do
    pushd $DIR
    cmake .
    make
    sudo make install
    source /usr/local/setup.bash
    popd
done

cd ../denso_cobotta_ros
for DIR in denso_cobotta_lib denso_cobotta_descriptions; do
    pushd $DIR
    cmake .
    make
    sudo make install
    source /usr/local/setup.bash
    popd
done

sudo ln -s ~/denso_cobotta_ros/denso_cobotta_descriptions/cobotta_description /usr/local/share/denso_cobotta_descriptions/

sudo ln -s ~/denso_cobotta_ros/denso_cobotta_lib/devel/lib/libdenso_cobotta_lib.so /opt/ros/kinetic/lib/
sudo ln -s ~/denso_cobotta_ros/denso_cobotta_lib/include/denso_cobotta_lib /usr/include/

for DIR in denso_cobotta_driver denso_cobotta_gripper; do
    pushd $DIR
    cmake .
    make
    sudo make install
    source /usr/local/setup.bash
    popd
done

sudo apt-get install python-pip
pip install --upgrade pip
pip install --user pyassimp