how to connect between Vrep3.4 and ROs(kinetic)

Typically: "How do I... ", "How can I... " questions
Post Reply
Zhuang
Posts: 21
Joined: 02 Aug 2017, 14:43

how to connect between Vrep3.4 and ROs(kinetic)

Post by Zhuang » 20 Aug 2017, 05:11

I found some information about the problem, like "http://analuciacruz.me/articles/RosInterface_kinetic/" , "https://github.com/lagadic/vrep_ros_bridge.git".
(1) For vrep_ros_bridge, can it still be installed on ubuntu16.04 with Vrep3.4 and ROs(kinetic) ?
(2) For RosInterface , I always meet mistakes.
(3) I download Vrep3.4, but there is a file ''ros_vrep_rosinterface_install.sh'' in
/V-REP_PRO_EDU_V3_4_0_Linux/programming/ros_packages/v_repExtRosInterface/extra
in the file ,
VREP_RELEASE="V-REP_PRO_EDU_V3_3_2_64_Linux"
VREP_ROOT="$VREP_DESTDIR/$VREP_RELEASE"
but you know , i download vrep3.4.0
Why?

coppelia
Site Admin
Posts: 6766
Joined: 14 Dec 2012, 00:25

Re: how to connect between Vrep3.4 and ROs(kinetic)

Post by coppelia » 22 Aug 2017, 08:19

Hello,

the best would be to use the latest rosInterface source code here. Then, you will have to use the beta version of next V-REP release that you can download here.

Cheers

Zhuang
Posts: 21
Joined: 02 Aug 2017, 14:43

Re: how to connect between Vrep3.4 and ROs(kinetic)

Post by Zhuang » 23 Aug 2017, 04:46

coppelia wrote:Hello,

the best would be to use the latest rosInterface source code here. Then, you will have to use the beta version of next V-REP release that you can download here.

Cheers
Thank your reply,
yes, I have downloaded the V-REP_PRO_EDU_V3_4_0_Linux and I installed Rosinterface via the file : /home/zhuang/Software/V-REP_PRO_EDU_V3_4_0_Linux/programming/ros_packages/ros_vrep_rosinterface_install_guide.txt. but I met some mistakes.

Errors << vrep_ros_interface:make /home/zhuang/catkin_ws/logs/vrep_ros_interface/build.make.000.log
python: can't open file '/home/zhuang/catkin_ws/src/vrep_ros_interface/external/v_repStubsGen/external/pycpp/pycpp.py': [Errno 2] No such file or directory
make[2]: *** [generated/adv.cpp] Error 2
make[2]: *** Waiting for unfinished jobs....
python: can't open file '/home/zhuang/catkin_ws/src/vrep_ros_interface/external/v_repStubsGen/external/pycpp/pycpp.py': [Errno 2] No such file or directory
make[2]: *** [generated/srvsrv.cpp] Error 2
make[1]: *** [CMakeFiles/generate_ros_code.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
make: *** [all] Error 2
cd /home/zhuang/catkin_ws/build/vrep_ros_interface; catkin build --get-env vrep_ros_interface | catkin env -si /usr/bin/make --jobserver-fds=6,7 -j; cd -

of course, there is a problem in ros_vrep_rosinterface_install_guide.txt.
$: git clone https://github.com/fferri/v_repExtRosInterface.git vrep_ros_interface
the step should be acted in /home/user/catkin_ws/src file, but there is not .

please help me deal with the bug. thank u.
cheers

Zhuang
Posts: 21
Joined: 02 Aug 2017, 14:43

Re: how to connect between Vrep3.4 and ROs(kinetic)

Post by Zhuang » 25 Aug 2017, 14:03

coppelia wrote:Hello,

the best would be to use the latest rosInterface source code here. Then, you will have to use the beta version of next V-REP release that you can download here.

Cheers
Hello,
Could you provide me with the installation steps?
there is a text in Vrep3.4.0:

1) install Ubuntu 16 x86_64
2) install ros kinetic (see http://wiki.ros.org/kinetic/Installation/Ubuntu)
# make sure you have the "desktop-full" ROS package:
sudo apt install ros-kinetic-desktop-full
3) install V-REP Linux 64-bit
cd ~/Downloads
wget http://coppeliarobotics.com/V-REP_PRO_E ... nux.tar.gz
cd ~
tar zvxf ~/Downloads/V-REP_PRO_EDU_V3_3_2_64_Linux.tar.gz
# set the VREP_ROOT variable in ~/.bashrc:
echo 'export VREP_ROOT="$HOME/V-REP_PRO_EDU_V3_3_2_64_Linux"' >> ~/.bashrc
source ~/.bashrc
4) install some required Ubuntu packages:
sudo apt install git cmake python-tempita python-catkin-tools python-lxml default-jre
5) install saxon:
cd ~/Downloads
wget http://downloads.sourceforge.net/projec ... 7-0-8J.zip
cd ~
mkdir -p saxon/bin
cd saxon
unzip ~/Downloads/SaxonHE9-7-0-8J.zip
echo -e '#!/bin/sh\njava -jar "`dirname "$0"`/../saxon9he.jar" "$@"' > bin/saxon
chmod a+x bin/saxon
# update PATH env var with the location of saxon executable:
echo 'export PATH="$PATH:$HOME/saxon/bin"' >> ~/.bashrc
source ~/.bashrc
5) install v_repStubsGen (https://github.com/fferri/v_repStubsGen.git)
mkdir ~/python-packages
cd ~/python-packages
git clone https://github.com/fferri/v_repStubsGen.git
echo 'export PYTHONPATH="$PYTHONPATH:$HOME/python-packages"' >> ~/.bashrc
source ~/.bashrc
6) setup catkin workspace:
rm -rf ~/catkin_ws
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
cd ..
catkin build
source devel/setup.bash
git clone https://github.com/fferri/v_repExtRosInterface.git vrep_ros_interface
catkin build

But I met some mistakes by this text.

cheers

fferri
Posts: 224
Joined: 09 Sep 2013, 19:28

Re: how to connect between Vrep3.4 and ROs(kinetic)

Post by fferri » 25 Aug 2017, 14:54

Sorry, the instructions shipped with V-REP 3.4.0 are now outdated.

Saxon is not used anymore now, and xsltproc is used instead, so you will need to

Code: Select all

sudo apt-get install xsltproc
.

Also you don't need to install v_repStubsGen somewhere in the $PYTHONPATH anymore, as now it is included in the plugin's repository. Just remember to do a recursive checkout (in the catkin workspace src/ subdirectory), with:

Code: Select all

git clone --recursive https://github.com/fferri/v_repExtRosInterface.git vrep_ros_interface
And be sure to follow the instructions found in the repository:

https://github.com/fferri/v_repExtRosInterface#readme

which is usually just:

Code: Select all

catkin build
and then copy the plugin library from the catkin workspace devel/ dir to V-REP executable directory.

Zhuang
Posts: 21
Joined: 02 Aug 2017, 14:43

Re: how to connect between Vrep3.4 and ROs(kinetic)

Post by Zhuang » 25 Aug 2017, 15:47

fferri wrote:Sorry, the instructions shipped with V-REP 3.4.0 are now outdated.

Saxon is not used anymore now, and xsltproc is used instead, so you will need to

Code: Select all

sudo apt-get install xsltproc
.

Also you don't need to install v_repStubsGen somewhere in the $PYTHONPATH anymore, as now it is included in the plugin's repository. Just remember to do a recursive checkout, with:

Code: Select all

git clone --recursive https://github.com/fferri/v_repExtRosInterface.git vrep_ros_interface
And be sure to follow the instructions found in the repository:

https://github.com/fferri/v_repExtRosInterface#readme

which is usually just:

Code: Select all

catkin build
and then copy the plugin library from the catkin workspace devel/ dir to V-REP executable directory.
Thanks a million. thank u.

engrkhan
Posts: 2
Joined: 08 Dec 2014, 05:54

Re: how to connect between Vrep3.4 and ROs(kinetic)

Post by engrkhan » 03 Dec 2017, 20:18

Hi,

I followed all the steps outlined here by fferri but am still having no success. I will appreciate if you can please help.

I am getting the following errors:

tufail@tufail-HP-Laptop-i5:~/catkin_ws/src$ catkin build
-----------------------------------------------------------
Profile: default
Extending: [env] /opt/ros/kinetic
Workspace: /home/tufail/catkin_ws
-----------------------------------------------------------
Source Space: [exists] /home/tufail/catkin_ws/src
Log Space: [missing] /home/tufail/catkin_ws/logs
Build Space: [exists] /home/tufail/catkin_ws/build
Devel Space: [exists] /home/tufail/catkin_ws/devel
Install Space: [unused] /home/tufail/catkin_ws/install
DESTDIR: [unused] None
-----------------------------------------------------------
Devel Space Layout: linked
Install Space Layout: None
-----------------------------------------------------------
Additional CMake Args: None
Additional Make Args: None
Additional catkin Make Args: None
Internal Make Job Server: True
Cache Job Environments: False
-----------------------------------------------------------
Whitelisted Packages: None
Blacklisted Packages: None
-----------------------------------------------------------
Workspace configuration appears valid.

NOTE: Forcing CMake to run for each package.
-----------------------------------------------------------
[build] Found '4' packages in 0.0 seconds.
[build] Updating package table.
Starting >>> catkin_tools_prebuild
Finished <<< catkin_tools_prebuild [ 1.3 seconds ]
Starting >>> ros_bubble_rob2
Starting >>> vrep_ros_interface
Starting >>> vrep_skeleton_msg_and_srv
Finished <<< vrep_skeleton_msg_and_srv [ 3.9 seconds ]
Starting >>> vrep_plugin_skeleton
Finished <<< ros_bubble_rob2 [ 4.9 seconds ]
_______________________________________________________________________________
Warnings << vrep_plugin_skeleton:cmake /home/tufail/catkin_ws/logs/vrep_plugin_skeleton/build.cmake.000.log
CMake Warning at /opt/ros/kinetic/share/catkin/cmake/catkin_package.cmake:166 (message):
catkin_package() DEPENDS on 'roslib' but neither 'roslib_INCLUDE_DIRS' nor
'roslib_LIBRARIES' is defined.
Call Stack (most recent call first):
/opt/ros/kinetic/share/catkin/cmake/catkin_package.cmake:102 (_catkin_package)
CMakeLists.txt:8 (catkin_package)


cd /home/tufail/catkin_ws/build/vrep_plugin_skeleton; catkin build --get-env vrep_plugin_skeleton | catkin env -si /usr/bin/cmake /home/tufail/catkin_ws/src/vrep_plugin_skeleton --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/home/tufail/catkin_ws/devel/.private/vrep_plugin_skeleton -DCMAKE_INSTALL_PREFIX=/home/tufail/catkin_ws/install; cd -
...............................................................................
Finished <<< vrep_plugin_skeleton [ 6.1 seconds ]
_______________________________________________________________________________
Errors << vrep_ros_interface:make /home/tufail/catkin_ws/logs/vrep_ros_interface/build.make.000.log
Traceback (most recent call last):
File "/home/tufail/catkin_ws/src/vrep_ros_interface/external/v_repStubsGen/generate.py", line 96, in <module>
runprogram('xsltproc', '-o', output('reference.html'), rel('xsl/reference.xsl'), input_xml)
File "/home/tufail/catkin_ws/src/vrep_ros_interface/external/v_repStubsGen/generate.py", line 50, in runprogram
runsubprocess(what, [what] + list(args))
File "/home/tufail/catkin_ws/src/vrep_ros_interface/external/v_repStubsGen/generate.py", line 38, in runsubprocess
child = subprocess.Popen(args)
File "/usr/lib/python2.7/subprocess.py", line 711, in __init__
errread, errwrite)
File "/usr/lib/python2.7/subprocess.py", line 1343, in _execute_child
raise child_exception
OSError: [Errno 2] No such file or directory
make[2]: *** [generated/stubs.cpp] Error 1
make[2]: *** Deleting file 'generated/stubs.cpp'
make[1]: *** [CMakeFiles/v_repExtRosInterface.dir/all] Error 2
make: *** [all] Error 2
cd /home/tufail/catkin_ws/build/vrep_ros_interface; catkin build --get-env vrep_ros_interface | catkin env -si /usr/bin/make --jobserver-fds=6,7 -j; cd -
...............................................................................
Failed << vrep_ros_interface:make [ Exited with code 2 ]
Failed <<< vrep_ros_interface [ 10.4 seconds ]
[build] Summary: 4 of 5 packages succeeded.
[build] Ignored: None.
[build] Warnings: 1 packages succeeded with warnings.
[build] Abandoned: None.
[build] Failed: 1 packages failed.
[build] Runtime: 11.9 seconds total.
[build] Note: Workspace packages have changed, please re-source setup files to use them.

fferri
Posts: 224
Joined: 09 Sep 2013, 19:28

Re: how to connect between Vrep3.4 and ROs(kinetic)

Post by fferri » 05 Dec 2017, 21:42

engrkhan wrote:
03 Dec 2017, 20:18
I am getting the following errors:

tufail@tufail-HP-Laptop-i5:~/catkin_ws/src$ catkin build
[...]
Traceback (most recent call last):
File "/home/tufail/catkin_ws/src/vrep_ros_interface/external/v_repStubsGen/generate.py", line 96, in <module>
runprogram('xsltproc', '-o', output('reference.html'), rel('xsl/reference.xsl'), input_xml)
File "/home/tufail/catkin_ws/src/vrep_ros_interface/external/v_repStubsGen/generate.py", line 50, in runprogram
runsubprocess(what, [what] + list(args))
File "/home/tufail/catkin_ws/src/vrep_ros_interface/external/v_repStubsGen/generate.py", line 38, in runsubprocess
child = subprocess.Popen(args)
File "/usr/lib/python2.7/subprocess.py", line 711, in __init__
errread, errwrite)
File "/usr/lib/python2.7/subprocess.py", line 1343, in _execute_child
raise child_exception
OSError: [Errno 2] No such file or directory
it appears you don't have xsltproc installed
fferri wrote:
25 Aug 2017, 14:54
you will need to

Code: Select all

sudo apt-get install xsltproc

engrkhan
Posts: 2
Joined: 08 Dec 2014, 05:54

Re: how to connect between Vrep3.4 and ROs(kinetic)

Post by engrkhan » 06 Dec 2017, 04:44

It worked, thank you very much.

aefka
Posts: 5
Joined: 06 Dec 2017, 12:41

Re: how to connect between Vrep3.4 and ROs(kinetic)

Post by aefka » 09 Dec 2017, 21:28

Hello, I have problem too. In few steps I will describe problem:

1) I install ROS kinetic full desktop
2)I install V-REP PRO EDU 3.4.0
3) "sudo apt install git cmake python-tempita python-catkin-tools python-lxml default-jre"
4) "sudo apt-get install xsltproc"
5) setup catkin workspace:
rm -rf ~/catkin_ws
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
cd ..
catkin build

And when I write " source devel/setup.bash" is error: devel/setup.bash:.:8: no such file or directory: /home/avr/catkin_ws/setup.sh

where to get setup.sh, and when i install it?


EDIT: It works, when I write "source devel/setup.zsh" but I don't have folder dir in devel

Post Reply