Install ROS Packages and Dependencies for ROS
Note
This section explains the steps to install ROS packages and dependencies if MATLAB® and ROS are installed on the same computer, which is connected to Kinova® Gen3 robot. If the ROS and MATLAB are installed on different computers, see Install ROS Packages and Dependencies for ROS on External Computer.
Kinova Robotics provides set of external ROS packages to communicate and control Gen3 robot. More information on the individual packages can be found on this GitHub Page. Execute the following steps sequentially to clone required packages and install required dependencies.
Install python3 and python3-pip by executing the following command in the Linux® terminal.
sudo apt install python3 python3-pip
Install conan using pip and setup a default profile.
sudo python3 -m pip install conan conan config set general.revisions_enabled=1 conan profile new default --detect > /dev/null conan profile update settings.compiler.libcxx=libstdc++11 default
Create a new workspace with
src
folder.mkdir -p kinova_ws/src cd kinova_ws
Download the ros_kortex ROS packages (version 2.2.1) from GitHub archive of Kinova Robotics.
Extract the contents of the ZIP file to the
src
folder. Thesrc
folder should containros_kortex-2.2.1
folder.Install dependencies from the custom ROS packages by executing the following command in the Linux terminal.
rosdep install --from-paths src --ignore-src -y
Build the workspace using catkin tool. This will take a few minutes to complete.
catkin_make
Once the build is successful, continue with the hardware setup screens if you are not planning to use the vision module. If you are planning to use the vision module, execute the setup instructions mentioned in the following section.
Install Dependencies for Vision Module of Kinova Gen3 Robot
Kinova Robotics provides set of external ROS packages to acquire various image data from the vision module of Gen3 robot. For more information on the ROS packages, refer to this GitHub Page. Execute the following steps sequentially to clone required packages and install required dependencies.
Install GStreamer and associated packages by executing the following command in the Linux terminal.
sudo apt install gstreamer1.0-tools gstreamer1.0-libav libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev libgstreamer-plugins-good1.0-dev gstreamer1.0-plugins-good gstreamer1.0-plugins-base
Install rgbd launch ROS package
sudo apt-get install ros-kinetic-rgbd-launch
Navigate to the
src
folder that has been created in the Step 3 of the earlier setup process. Clone the required ROS packages in thesrc
folder.git clone https://github.com/Kinovarobotics/ros_kortex_vision.git
Build the workspace using catkin tool. This will take a few minutes to complete.
catkin_make catkin_make install