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Creating virtualenv

  • Go to the working directory (in our case ~/Dev/ubuntu_sys/dqn)
  • Create a vitual environment to install ROS ,Stage, and Tensorflow in:
    • $ virtualenv .
  • Activate the environmentL
    • On the centOS which has csh as default shell: $ source bin/activate.csh

Installing ROS:

  • $ module laod LANG/PYTHON/2.7.10-GCC492

  • Make sure you are in the virtual environment and it's active

  • $ pip install -U rosdep rosinstall_generator wstool rosinstall

  • $ pip install --upgrade setuptools

  • $ pip install catkin-tools

  • Activate the virtualenv again

  • Change the /etc folder for ros installation

    • in lib/python2.7/site-packages/rosdep2/sources_list.py
    • and in lib/python2.7/site-packages/rospkg/environment.py
    • also changing ROS_ETC_DIR might work ?!

  • $ rosdep init

  • $ rosdep update

  • `$ mkdir -p /dqn_ws/src

  • $ cd dqn_ws

  • $ rosinstall_generator ros_comm --rosdistro kinetic --deps --wet-only --tar > kinetic-ros_comm-wet.rosinstall

  • $ wstool init -j8 src kinetic-ros_comm-wet.rosinstall

  • $ pip install empy

  • You need to install console_bridge separately:

    • $ module load COMPILER/GNU/6.2.0
    • $ git clone git://github.com/ros/console_bridge.git
    • $ cd console_bridge
    • $ cmake . -DCMAKE_C_COMPILER=/rcg/software/Linux/RHEL/6/x86_64/COMPILER/GNU/4.9.2/bin/gcc -DCMAKE_CXX_COMPILER=/rcg/software/Linux/RHEL/6/x86_64/COMPILER/GNU/4.9.2/bin/g++ -DCMAKE_INSTALL_PREFIX=/grad/2/smohaime/Dev/dqn/
    • $ make
    • $ make install

  • rospack needs tinyxml:

    • I ended up copying it from another ubntu Xenial distribution.
    • Link to downlad TBA

  • roslz4 needs lz4:

    • $ apt-get download liblz4-dev
    • $ ar x liblz4-dev_0.0~r131-2ubuntu2_amd64.deb
    • $ apt-get download liblz4-1
    • $ ax r liblz4-1_0.0~r131-2ubuntu2_amd64.deb
    • Copy the files in usr folder that was just sxtracted to the correct folders.

  • Invoke catkin_make_isolated from downloaded packages:

    • $ ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release

  • After fist attempt, I don't know why genmsg package is not being found by std_msgs package, had to add the path to all currently build packages to PYTHONPATH:

    • $ export PYTHONPATH=$PYTHONPATH:/home/smohaime/Dev/ubuntu_sys/dqn/ws/devel_isolated/catkin/lib/python2.7/dist-packages:/home/smohaime/Dev/ubuntu_sys/dqn/ws/devel_isolated/genmsg/lib/python2.7/dist-packages:/home/smohaime/Dev/ubuntu_sys/dqn/ws/devel_isolated/gencpp/lib/python2.7/dist-packages:/home/smohaime/Dev/ubuntu_sys/dqn/ws/devel_isolated/geneus/lib/python2.7/dist-packages:/home/smohaime/Dev/ubuntu_sys/dqn/ws/devel_isolated/genlisp/lib/python2.7/dist-packages:/home/smohaime/Dev/ubuntu_sys/dqn/ws/devel_isolated/gennodejs/lib/python2.7/dist-packages:/home/smohaime/Dev/ubuntu_sys/dqn/ws/devel_isolated/genpy/lib/python2.7/dist-packages:/home/smohaime/Dev/ubuntu_sys/dqn/ws/devel_isolated/rosboost_cfg/lib/python2.7/dist-packages:/home/smohaime/Dev/ubuntu_sys/dqn/ws/devel_isolated/rosclean/lib/python2.7/dist-packages:/home/smohaime/Dev/ubuntu_sys/dqn/ws/devel_isolated/roscreate/lib/python2.7/dist-packages:/home/smohaime/Dev/ubuntu_sys/dqn/ws/devel_isolated/rosgraph/lib/python2.7/dist-packages:/home/smohaime/Dev/ubuntu_sys/dqn/ws/devel_isolated/rosmake/lib/python2.7/dist-packages:/home/smohaime/Dev/ubuntu_sys/dqn/ws/devel_isolated/rosmaster/lib/python2.7/dist-packages:/home/smohaime/Dev/ubuntu_sys/dqn/ws/devel_isolated/roslib/lib/python2.7/dist-packages:/home/smohaime/Dev/ubuntu_sys/dqn/ws/devel_isolated/rosparam/lib/python2.7/dist-packages:/home/smohaime/Dev/ubuntu_sys/dqn/ws/devel_isolated/rospy/lib/python2.7/dist-packages:/home/smohaime/Dev/ubuntu_sys/dqn/ws/devel_isolated/rosservice/lib/python2.7/dist-packages:/home/smohaime/Dev/ubuntu_sys/dqn/ws/devel_isolated/roslaunch/lib/python2.7/dist-packages:/home/smohaime/Dev/ubuntu_sys/dqn/ws/devel_isolated/rosunit/lib/python2.7/dist-packages:/home/smohaime/Dev/ubuntu_sys/dqn/ws/devel_isolated/roslz4/lib/python2.7/dist-packages:/home/smohaime/Dev/ubuntu_sys/dqn/ws/devel_isolated/rostest/lib/python2.7/dist-packages:/home/smohaime/Dev/ubuntu_sys/dqn/ws/devel_isolated/std_msgs/lib/python2.7/dist-packages

  • And Revoke the catkin_make_isolated:

    • $ ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release

  • And build Succeeds !!!!

  • Runtime error! , you need defusedxml to be installed:

    $ pip install defusedxml
$ pip install netifaces
$ export PYTHONPATH=$PYTHONPATH:/home/smohaime/Dev/ubuntu_sys/dqn/ws/devel_isolated/catkin/lib/python2.7/dist-packages:/home/smohaime/Dev/ubuntu_sys/dqn/ws/devel_isolated/genmsg/lib/python2.7/dist-packages:/home/smohaime/Dev/ubuntu_sys/dqn/ws/devel_isolated/gencpp/lib/python2.7/dist-packages:/home/smohaime/Dev/ubuntu_sys/dqn/ws/devel_isolated/geneus/lib/python2.7/dist-packages:/home/smohaime/Dev/ubuntu_sys/dqn/ws/devel_isolated/genlisp/lib/python2.7/dist-packages:/home/smohaime/Dev/ubuntu_sys/dqn/ws/devel_isolated/gennodejs/lib/python2.7/dist-packages:/home/smohaime/Dev/ubuntu_sys/dqn/ws/devel_isolated/genpy/lib/python2.7/dist-packages:/home/smohaime/Dev/ubuntu_sys/dqn/ws/devel_isolated/rosboost_cfg/lib/python2.7/dist-packages:/home/smohaime/Dev/ubuntu_sys/dqn/ws/devel_isolated/rosclean/lib/python2.7/dist-packages:/home/smohaime/Dev/ubuntu_sys/dqn/ws/devel_isolated/roscreate/lib/python2.7/dist-packages:/home/smohaime/Dev/ubuntu_sys/dqn/ws/devel_isolated/rosgraph/lib/python2.7/dist-packages:/home/smohaime/Dev/ubuntu_sys/dqn/ws/devel_isolated/rosmake/lib/python2.7/dist-packages:/home/smohaime/Dev/ubuntu_sys/dqn/ws/devel_isolated/rosmaster/lib/python2.7/dist-packages:/home/smohaime/Dev/ubuntu_sys/dqn/ws/devel_isolated/roslib/lib/python2.7/dist-packages:/home/smohaime/Dev/ubuntu_sys/dqn/ws/devel_isolated/rosparam/lib/python2.7/dist-packages:/home/smohaime/Dev/ubuntu_sys/dqn/ws/devel_isolated/rospy/lib/python2.7/dist-packages:/home/smohaime/Dev/ubuntu_sys/dqn/ws/devel_isolated/rosservice/lib/python2.7/dist-packages:/home/smohaime/Dev/ubuntu_sys/dqn/ws/devel_isolated/roslaunch/lib/python2.7/dist-packages:/home/smohaime/Dev/ubuntu_sys/dqn/ws/devel_isolated/rosunit/lib/python2.7/dist-packages:/home/smohaime/Dev/ubuntu_sys/dqn/ws/devel_isolated/roslz4/lib/python2.7/dist-packages:/home/smohaime/Dev/ubuntu_sys/dqn/ws/devel_isolated/rostest/lib/python2.7/dist-packages:/home/smohaime/Dev/ubuntu_sys/dqn/ws/devel_isolated/std_msgs/lib/python2.7/dist-packages:/home/smohaime/Dev/ubuntu_sys/dqn/ws/devel_isolated/rosgraph_msgs/lib/python2.7/dist-packages:/home/smohaime/Dev/ubuntu_sys/dqn/ws/devel_isolated/rosmsg/lib/python2.7/dist-packages:/home/smohaime/Dev/ubuntu_sys/dqn/ws/devel_isolated/std_srvs/lib/python2.7/dist-packages:/home/smohaime/Dev/ubuntu_sys/dqn/ws/devel_isolated/roscpp/lib/python2.7/dist-packages:/home/smohaime/Dev/ubuntu_sys/dqn/ws/devel_isolated/message_filters/lib/python2.7/dist-packages:/home/smohaime/Dev/ubuntu_sys/dqn/ws/devel_isolated/rosnode/lib/python2.7/dist-packages:/home/smohaime/Dev/ubuntu_sys/dqn/ws/devel_isolated/rostopic/lib/python2.7/dist-packages:/home/smohaime/Dev/ubuntu_sys/dqn/ws/devel_isolated/roswtf/lib/python2.7/dist-packages:/home/smohaime/Dev/ubuntu_sys/dqn/ws/devel_isolated/topic_tools/lib/python2.7/dist-packages:/home/smohaime/Dev/ubuntu_sys/dqn/ws/devel_isolated/rosbag/lib/python2.7/dist-packages:/home/smohaime/Dev/ubuntu_sys/dqn/ws/devel_isolated/actionlib_msgs/lib/python2.7/dist-packages:/home/smohaime/Dev/ubuntu_sys/dqn/ws/devel_isolated/geometry_msgs/lib/python2.7/dist-packages:/home/smohaime/Dev/ubuntu_sys/dqn/ws/devel_isolated/nav_msgs/lib/python2.7/dist-packages:/home/smohaime/Dev/ubuntu_sys/dqn/ws/devel_isolated/sensor_msgs/lib/python2.7/dist-packages:/home/smohaime/Dev/ubuntu_sys/dqn/ws/devel_isolated/tf2_msgs/lib/python2.7/dist-packages:/home/smohaime/Dev/ubuntu_sys/dqn/ws/devel_isolated/tf2_py/lib/python2.7/dist-packages:/home/smohaime/Dev/ubuntu_sys/dqn/ws/devel_isolated/actionlib/lib/python2.7/dist-packages:/home/smohaime/Dev/ubuntu_sys/dqn/ws/devel_isolated/tf2_ros/lib/python2.7/dist-packages:/home/smohaime/Dev/ubuntu_sys/dqn/ws/devel_isolated/tf/lib/python2.7/dist-packages:/home/smohaime/Dev/ubuntu_sys/dqn/ws/install_isolated/lib/python2.7/dist-packages:/home/smohaime/Dev/ubuntu_sys/dqn/ws/install_isolated/lib/python2.7/dist-packages/std_msgs:/home/smohaime/Dev/ubuntu_sys/dqn/ws/install_isolated/lib/python2.7/dist-packages/rosgraph_msgs:/home/smohaime/Dev/ubuntu_sys/dqn/ws/install_isolated/lib/python2.7/dist-packages/std_srvs:/home/smohaime/Dev/ubuntu_sys/dqn/ws/install_isolated/lib/python2.7/dist-packages/roscpp:/home/smohaime/Dev/ubuntu_sys/dqn/ws/install_isolated/lib/python2.7/dist-packages/roscpp/srv:/home/smohaime/Dev/ubuntu_sys/dqn/ws/install_isolated/lib/python2.7/dist-packages/topic_tools:/home/smohaime/Dev/ubuntu_sys/dqn/ws/install_isolated/lib/python2.7/dist-packages/actionlib_msgs:/home/smohaime/Dev/ubuntu_sys/dqn/ws/install_isolated/lib/python2.7/dist-packages/geometry_msgs:/home/smohaime/Dev/ubuntu_sys/dqn/ws/install_isolated/lib/python2.7/dist-packages/nav_msgs:/home/smohaime/Dev/ubuntu_sys/dqn/ws/install_isolated/lib/python2.7/dist-packages/sensor_msgs:/home/smohaime/Dev/ubuntu_sys/dqn/ws/install_isolated/lib/python2.7/dist-packages/tf2_msgs:/home/smohaime/Dev/ubuntu_sys/dqn/ws/install_isolated/lib/python2.7/dist-packages/actionlib:/home/smohaime/Dev/ubuntu_sys/dqn/ws/install_isolated/lib/python2.7/dist-packages/tf

=====================================================================

##Compilng the stage and stage_ros packages:

  • Generate the rosinstall file:
    • $ rosinstall_generator stage stage_ros --rosdistro kinetic --deps | wstool merge -t src -
    • `$ wstool update -t src -j8
    • Remove testing from tf & tf2's CMakeList.txt file.
    • $ ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release