Install

Step 1. Install required catkin packages

The following catkin packages are required:

• Standard ROS packages incl. xacro and urdf
• gazebo_ros
• roslint (only while the packages are still in beta)

On Ubuntu/debian, you may install the ROS packages using the package manager

sudo apt-get install \
    ros-<distro>-gazebo-ros \
    ros-<distro>-roslint

Step 2. Install the required repositories

You will need the following packages in your catkin workspace:

• arm_components_name_manager in repository convenience-pkgs
• convenience_math_functions in repository convenience-pkgs
• All packages in this repository: joint-control-pkgs.

Clone the depending repositories into your catkin workspace:

cd <catkin_ws>/src
git clone https://github.com/JenniferBuehler/convenience-pkgs.git
git clone https://github.com/JenniferBuehler/joint-control-pkgs.git

Compile

To compile, you can now use catkin_make as usual:

cd ..
catkin_make

Step 3 [Optional]. Generate doxygen documentation

You can generate doxygen documentation for the following packages:

catkin_make joint_trajectory_execution_doc
catkin_make gazebo_joint_control_doc

the documentation will be generated in the directories:

<your-catkin-ws>/build/joint-control-pkgs/<package-name>/docs/html/

When installing the packages with catkin_make install, the documentation will install into the CATKIN_PACKAGE_SHARE_DESTINATION/doc destination.