Requirements

• This project is developed and tested in Ubuntu 18.04 (LTS) with ROS Melodic installed. ROS melodic (full installation) https://wiki.ros.org/melodic/Installation/Ubuntu

• Also the following packages must be installed:

  • Moveit

  sudo apt-get install ros-melodic-moveit
  

  • Moveit visual tools

  sudo apt-get install ros-melodic-moveit-visual-tools
  

  • Moveit Grasps (As of 14/3/2020 this package is not available and must be installed from source see instructions in official repository

  sudo apt-get install ros-melodic-moveit-grasps
  

  • Joint Trajectory controller package

  sudo apt-get install ros-melodic-joint-trajectory-controller
  

  • ROS Controllers

  sudo apt-get install ros-melodic-ros-controllers
  

  • Other dependencies

  sudo apt-get install ros-melodic-cv-camera ros-melodic-executive-smach ros-melodic-smach ros-melodic-smach-viewer
  

  • Catkin tools (optional)

  sudo apt-get install ros-melodic-catkin python-catkin-tools