Build and Install

• To clone FENGSim:

  git clone https://github.com/FENGSim/FENGSim.git
  

• To clone DAE:

  cd FENGSim/toolkit
  git clone https://github.com/FENGSim/DAE.git
  

• To compile and install ROS2:

  cd FENGSim/toolkit/DAE/ros2/ros2/
  ./install
  

• To compile and install MoveIt2:

  cd FENGSim/toolkit/DAE/ros2/moveit2/
  ./install
  

• To compile and install MoveIt2_Tutorials:

  cd FENGSim/toolkit/DAE/ros2/moveit2_tutorials/
  ./install
  

Key tools and work flow for compiling ROS2, MoveIt2 and MoveIt2_Tutorials:

• ROS packages: http://packages.ros.org/

• Toolset (ros-dev-tools): http://packages.ros.org/ros2/ubuntu/pool/main/r/ros-dev-tools/ ros-dev-tools includes Vsctool, rosdep and colcon.

• Source code management from any repositories (Vcstool): https://github.com/dirk-thomas/vcstool

• Dependency database (rosdistro): https://github.com/ros/rosdistro/tree/master

• Dependency installer (rosdep): http://packages.ros.org/ros2/ubuntu/pool/main/p/python3-rosdep/.

• Build tool (colcon): https://colcon.readthedocs.io/en/released/

To resolve the download failure when running rosdep init:

• Modify the path in FENGSim/toolkit/DAE/ros2/ros2/20-default.list

• Modify the path in FENGSim/toolkit/DAE/ros2/ros2/__init__.py

The source codes of ROS2, MoveIt2 and MoveIt2_Tutorials are located in the src directory. After compilation, the directories build, install and log will be created.

To install dependencies using the .xml files located in the src directory and the current directory:

cd FENGSim/toolkit/DAE/ros2/ros2/ros2_jazzy/
rosdep install --from-paths src --ignore-src -y --skip-keys "fastcdr rti-connext-dds-6.0.1 urdfdom_headers"

cd FENGSim/toolkit/DAE/ros2/moveit2/ws_moveit2/src/
rosdep install -r --from-paths . --ignore-src --rosdistro jazzy -y

To compile the codes located in the src directory:

cd FENGSim/toolkit/DAE/ros2/ros2/ros2_jazzy
ls src
colcon build --symlink-install

The compilation of MoveIt2 depends on the ROS2 libraries. To set the ROS2 environment variables before compiling MoveIt2:

source /opt/ros/jazzy/setup.bash

To set environment variables before using ROS2, MoveIt2 and MoveIt2_Tutorials:

cd FENGSim/toolkit/DAE/ros2
source ros2/ros2_jazzy/install/setup.bash
source moveit2/ws_moveit2/install/setup.bash
source moveit2_tutorials/install/setup.bash