Installation#
Requirements
Ubuntu 20.04
ROS Noetic
additionally required packages:
ros-noetic-libfranka
python3-catkin-tools
libeigen3-dev
Repository Structure
Currently we provide two seperate workspaces: one for simulation-based development and one for developing applications for a real Franka Panda Emika cobot. Installing both of them is quiet similar, even if they differ in their packages. The CCF packages are then located within these workspaces, which means they do no differ in their code-base and are independent of the used workspace. Both workspaces are provided as branches withing the repository.
Step-by-Step (Simulation Workspace)
Installing the simulation workspace is done by first cloning the repository based on git submodules.
as a guest:
git clone --recurse-submodules --branch noetic/simulation https://git-st.inf.tu-dresden.de/ceti/ros/ccf/ccf_workspace.git ccf_sim_workspace
as a project member with a registered ssh key:
git clone --recurse-submodules --branch noetic/simulation git@git-st.inf.tu-dresden.de:ceti/ros/ccf/ccf_workspace.git ccf_sim_workspace
change into the workspace
cd ccf_sim_workspace
install nng: https://ubuntu.pkgs.org/20.04/ubuntu-universe-arm64/libnng-dev_1.2.6-1_arm64.deb.html
install ROS package dependencies
rosdep install --from-paths src --ignore-src --skip-keys="libnng" -r
build the workspace
catkin build
source the config: depending on your shell
source devel/setup.bash
(default)source devel/setup.sh
source devel/setup.zsh
Step-by-Step (Hardware Workspace)
Installing the workspace for the real Franka Panda is done by first cloning the repository based on git submodules.
as a guest:
git clone --recurse-submodules --branch noetic/realrobot https://git-st.inf.tu-dresden.de/ceti/ros/ccf/ccf_workspace.git ccf_sim_workspace
as a project member with a registered ssh key:
git clone --recurse-submodules --branch noetic/realrobot git@git-st.inf.tu-dresden.de:ceti/ros/ccf/ccf_workspace.git ccf_hw_workspace
change into the workspace
cd ccf_hw_workspace
install ROS package dependencies
rosdep install -i --from-paths .
build the workspace
catkin build
source the config: depending on your shell
source devel/setup.bash
(default)source devel/setup.sh
source devel/setup.zsh