1- Use this link to follow the steps of the installation:
2 - In "Installation" you need to clone this fork of reuleaux project for Ubuntu 16.04: reuleax-kinetic-devel.
git clone https://github.com/jontromanab/reuleaux/tree/kinetic-devel
or for Ubuntu 18.04:
git clone https://git-ce.rwth-aachen.de/presleyreverdito/reuleaux-melodic
2- Follow this link:
to install OpenRave, because today (29/10/20) the OpenRave PPA doesn't work.
2.1- Replace "pip install --upgrade --user sympy==0.7.1" from pip to pip2. This is going to assure that you are using Python 2.7 and avoid conflicts with Python 3.5.
pip2 install --upgrade --user sympy==0.7.1
3 - I recommend to you use an XACRO existent file, for example you can downloaded URDF KUKA manipulators on this link:
You find some XACRO robots files on folder: kuka_experimental/kuka_kr6_support/urdf. Then, you can follow those tutorial steps using e.g "kr6r700sixx" instead of <myrobot_name>. 3.1 - When you're going to generate the URDF from XACRO file, use:
rosrun xacro xacro <myrobotname.urdf.xacro> > <myrobotname.urdf>
4 - On step "Generate Ik Solver", You should be careful! The type of output file should be .cpp. On official page doesn't be clear about on the code:
python `openrave-config --python-dir`/openravepy/_openravepy_/ikfast.py --robot=<myrobot_name>.dae --iktype=transform6d --baselink=1 --eelink=8 --savefile=<ikfast_output_path>
If you are following this procedure you are using "kr6r700sixx" instead of <myrobot_name>. On <ikfast_output_path> you should put the name of output file, e.g kr6r700sixx.cpp (remember, if you aren't on the folder that you want to save de output file, you should put e.g folder-path/kr6r700sixx.cpp)
4.1 - It is possible on this step the CPP file is not created, then follow this answer to solve the problem
5 - "Reachability Maps"( When you get here do not forget to run "roscore" to start the ROS server)
5.1 - To create the reachability map you should replace the code on the tutorial to:
rosrun map_creator create_reachability_map 0.05 kr6r700sixx.h5
Instead that on the tutorial. If you try to run that code a message will be showed: "Hey!! The first argument is the resolution and the second argument is the map filename. You messed up." In my case it took 5 hours! I do highly recommend to you tuns that code before you sleep.
6 - "Inverse Reachability Map" 6.1 - When you running that code on this step you should be on catikin_ws folder, instead of that you can run the code like this:
rosrun map_creator create_inverse_reachability_map <folder-path>/kr6r700sixx.h5
e.g:
rosrun map_creator create_inverse_reachability_map src/reuleaux-kinetic-devel/map_creator/maps/kr6r700sixx.h5
7 - "Visualizing the maps".
7.1 - Before you visulize the map you should create a frame like this in another terminal:
rosrun tf static_transform_publisher 0 0 0 0 0 0 map base_link 50
7.2 - When you'll run:
rosrun map_creator load_reachability_map kr6r700sixx.h5
you must be on folder ~/catkin_ws/src/reuleaux-kinetic-devel/map_creator/maps
7.1 - When you set the topic as "/reachability_map". Be careful, your computer can crash!
After all this, you can walk on your own fee and keep following the original tutorial!
Hi, sorry for later response. The only difference between Ubuntu 16 and 18 is the Reuleaux repository. I've updated the gist ;)