ROS Installation NotesΒΆ

Blender 2.57+ relies on Python3.2 which is not yet supported by ROS Electric Emys.

The following steps explain how to get a working setup, suitable for using ROS with MORSE.

  1. Install ROS Electric Emys (check http://www.ros.org/wiki/ROS/Installation if needed)

  2. Install Python3.2 manually or using your system package manager and make sure, your Pythonpath variable is pointing to the Python3.2-libraries (Python3.2 Debian-packages are e.g. offered by Ubuntu 11.04 and newer)

  3. Install PyYAML with Python3 support (PyYAML >= 3.09, you can get it from http://pyyaml.org/) Install it with python3.2 setup.py install to be sure to have the Python3 libraries

  4. Due to the lacking Python 3 compatibility, you have to overlay some ROS stacks: Therefore, you can use rosinstall:

    ROS Electric:

    rosinstall ~/ros-py3 /opt/ros/electric http://ias.cs.tum.edu/~kargm/ros_electric_py3.rosinstall (if your ROS is installed in /opt/ros/electric and your overlay should be created in ~/ros-py3)

    You can also use MORSE with ROS Diamondback:

    rosinstall ~/ros-py3 /opt/ros/diamondback http://ias.cs.tum.edu/~kargm/ros_diamondback_py3.rosinstall (if your ROS is installed in /opt/ros/diamondback and your overlay should be created in ~/ros-py3)

    The ROS-stacks ros, ros_comm and common_msgs are overlayed by Python3-compatible versions and need to be rebuild: rosmake ros && rosmake ros_comm && rosmake common_msgs

    Note: Rebuilding the common_msgs stack allows you to use all messages in this stack for communicating between MORSE and ROS. If you want to use any other messages, make sure the source-files are Python2 AND Python3 compatible! This can be achieved by simply rebuilding the ROS-packages of the messages with rosmake –pre-clean when you are running the patched ROS-stacks (make sure to source the right setup.bash!), e.g.: rosmake --pre-clean sensor_msgs

Previous topic

Pocolibs

Next topic

YARP

This Page