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| # Motoman Experimental | ||
| # Motoman experimental | ||
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| ## ROS Distro Support | ||
| [](https://travis-ci.com/ros-industrial/motoman_experimental) | ||
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| | | Indigo | Jade | Kinetic | | ||
| |:-------:|:------:|:----:|:-------:| | ||
| | Branch | [`indigo-devel`](https://github.com/ros-industrial/motoman_experimental/tree/indigo-devel) | [`indigo-devel`](https://github.com/ros-industrial/motoman_experimental/tree/indigo-devel) | [`kinetic-devel`](https://github.com/ros-industrial/motoman_experimental/tree/kinetic-devel) | | ||
| | Status | supported | supported | supported | | ||
| | Version | [version](http://repositories.ros.org/status_page/ros_indigo_default.html?q=motoman_experimental) | [version](http://repositories.ros.org/status_page/ros_jade_default.html?q=motoman_experimental) | [version](http://repositories.ros.org/status_page/ros_kinetic_default.html?q=motoman_experimental) | | ||
| [](https://opensource.org/licenses/Apache-2.0) | ||
| [](https://opensource.org/licenses/BSD-3-Clause) | ||
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| ## Travis - Continuous Integration | ||
| [](http://rosindustrial.org/news/2016/10/7/better-supporting-a-growing-ros-industrial-software-platform) | ||
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| Status: [](https://travis-ci.com/ros-industrial/motoman_experimental) | ||
| Experimental packages for Motoman manipulators within [ROS-Industrial][]. | ||
| See the [ROS wiki][] page for more information. | ||
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| ## ROS Buildfarm | ||
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| | | Indigo Source | Indigo Debian | Jade Source | Jade Debian | Kinetic Source | Kinetic Debian | | ||
| |:-------:|:-------------------:|:-------------------:|:-------------------:|:-------------------:|:-------------------:|:-------------------:| | ||
| | motoman_experimental | [](http://build.ros.org/view/Isrc_uT/job/Isrc_uT__motoman_experimental__ubuntu_trusty__source/) | [](http://build.ros.org/view/Ibin_uT64/job/Ibin_uT64__motoman_experimental__ubuntu_trusty_amd64__binary/) | [](http://build.ros.org/view/Jsrc_uT/job/Jsrc_uT__motoman_experimental__ubuntu_trusty__source/) | [](http://build.ros.org/view/Jbin_uT64/job/Jbin_uT64__motoman_experimental__ubuntu_trusty_amd64__binary/) | [](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__motoman_experimental__ubuntu_xenial__source/) | [](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__motoman_experimental__ubuntu_xenial_amd64__binary/) | | ||
| ## Contents | ||
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| [](http://rosindustrial.org/news/2016/10/7/better-supporting-a-growing-ros-industrial-software-platform) | ||
| This repository contains packages that will be migrated to the [motoman][] repository after they have received sufficient testing. | ||
| The contents of these packages are subject to change, without prior notice. | ||
| Any available APIs are to be considered unstable and are not guaranteed to be complete and / or functional. | ||
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| Experimental packages for Motoman manipulators within [ROS-Industrial][]. | ||
| See the [ROS wiki][] page for more information. | ||
| Branch naming follows the ROS distribution they are compatible with. | ||
| `-devel` branches may be unstable. | ||
| As these are experimental packages, they will not be released through the ROS buildfarm and must be built from sources in a [Catkin workspace][]. | ||
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| ## Contents | ||
| ## Building | ||
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| ### On newer (or older) versions of ROS | ||
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| Building the packages on newer (or older) versions of ROS is in most cases possible and supported. | ||
| For example: building the packages in this repository on Ubuntu Xenial/ROS Kinetic or Ubuntu Bionic/ROS Melodic systems is supported. | ||
| This will require creating a [Catkin workspace][], cloning this repository, installing all required dependencies and finally building the workspace. | ||
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| ### Catkin tools | ||
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| It is recommended to use [catkin_tools][] instead of the default [catkin][] when building ROS workspaces. | ||
| `catkin_tools` provides a number of benefits over regular `catkin_make` and will be used in the instructions below. | ||
| All packages can be built using `catkin_make` however: use `catkin_make` in place of `catkin build` where appropriate. | ||
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| ### Building the packages | ||
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| The following instructions assume that a [Catkin workspace][] has been created at `$HOME/catkin_ws` and that the *source space* is at `$HOME/catkin_ws/src`. | ||
| Update paths appropriately if they are different on the build machine. | ||
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| These instructions build the `kinetic-devel` branch on a ROS Kinetic system: | ||
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| ```bash | ||
| # change to the root of the Catkin workspace | ||
| $ cd $HOME/catkin_ws | ||
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| # retrieve the latest development version of motoman. If you'd rather | ||
| # use the latest released version, replace 'kinetic-devel' with 'kinetic' | ||
| $ git clone -b kinetic-devel \ | ||
| https://github.com/ros-industrial/motoman.git \ | ||
| src/motoman | ||
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| # retrieve the latest development version of motoman_experimental. | ||
| $ git clone -b kinetic-devel \ | ||
| https://github.com/ros-industrial/motoman_experimental.git \ | ||
| src/motoman_experimental | ||
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| # check build dependencies. Note: this may install additional packages, | ||
| # depending on the software installed on the machine | ||
| $ rosdep update | ||
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| # be sure to change 'kinetic' to whichever ROS release you are using | ||
| $ rosdep install --from-paths src/ --ignore-src --rosdistro kinetic | ||
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| # build the workspace (using catkin_tools) | ||
| $ catkin build | ||
| ``` | ||
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| ### Activating the workspace | ||
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| Finally, activate the workspace to get access to the packages just built: | ||
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| ```bash | ||
| $ source $HOME/catkin_ws/devel/setup.bash | ||
| ``` | ||
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| This repository contains packages that will be migrated to the [motoman][] | ||
| repository after they have received sufficient testing. The contents of | ||
| these packages are subject to change, without prior notice. Any available | ||
| APIs are to be considered unstable and are not guaranteed to be complete | ||
| and / or functional. | ||
| At this point all packages should be usable (ie: `roslaunch` should be able to auto-complete package names starting with `motoman_..`). | ||
| In case the workspace contains additional packages (ie: not from this repository), those should also still be available. | ||
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| [ROS-Industrial]: http://wiki.ros.org/Industrial | ||
| [ROS wiki]: http://wiki.ros.org/motoman_experimental | ||
| [motoman]: https://github.com/ros-industrial/motoman | ||
| [Catkin workspace]: http://wiki.ros.org/catkin/Tutorials/create_a_workspace | ||
| [catkin]: http://wiki.ros.org/catkin | ||
| [catkin_tools]: https://catkin-tools.readthedocs.io/en/latest |