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Installation Guide

Docker Installation

Prerequisites

  • Linux distribution (Tested with Ubuntu 20.04)
  • Docker and Docker Compose installed
  • vcs tools

Installation Steps

  1. Clone the Repository

Begin by cloning the repository and navigating to the project directory:

git clone https://github.com/snt-arg/dfl-toro.git
cd dfl-toro
  1. Import Required Repositories

Import the required repositories into a mount folder using the following commands:

mkdir -p _ws/src
vcs import --recursive _ws/src < .rosinstall_dfl_toro
# In case of using FR3 robot
vcs import --recursive _ws/src < .rosinstall_franka
# In case of using ABB Yumi
vcs import --recursive _ws/src < .rosinstall_abb_yumi
  1. Run the Docker Container

Move to the Docker configuration directory and start the container:

cd docker/compose
docker compose up
  1. Access the Docker Container

Once the container is running, access it via the following command:

docker exec -it ros_noetic bash
cd ~/main_ws/

Building from Source

Prerequisites

  • ROS Noetic (Tested only on Ubuntu 20.04)
  • Moveit1
  • CMake
  • vcs tools

Installation Steps

  1. Install System Dependencies

Ensure your system is up to date and install the necessary dependencies:

sudo apt-get update && sudo apt-get install -y \
      python3-vcstool \
      ros-noetic-ros-control \
      ros-noetic-ros-controllers \
      ros-noetic-actionlib-tools
  1. Clone the Repository

Clone the repository and navigate to the project directory:

git clone https://github.com/snt-arg/dfl-toro.git
cd dfl-toro
  1. Install Python Dependencies

Install all the required Python packages listed in the requirements file:

pip install -r requirements.txt
  1. Import Required Repositories

Use vcs to import the required repositories:

vcs import --recursive $YOUR_CATKIN_WS_DIR$/src < .rosinstall_dfl_toro
# In case of using FR3 robot
vcs import --recursive $YOUR_CATKIN_WS_DIR$/src < .rosinstall_franka
# In case of using ABB Yumi
vcs import --recursive $YOUR_CATKIN_WS_DIR$/src < .rosinstall_abb_yumi
  1. Install Package Dependencies

Install dependencies for the ROS packages:

cd $YOUR_CATKIN_WS_DIR$
rosdep init && rosdep update --include-eol-distros
rosdep install --from-paths src --ignore-src --rosdistro noetic
  1. Build the Packages

Build the packages using the catkin command:

catkin build