OpenRAVE

https://github.com/crigroup/openrave-installation

Beware of libboost version! The scripts will install libboost 1.58 which will conflict with 1.65 version

Azure Kinect

Azure Kinect Sensor SDK

curl https://packages.microsoft.com/keys/microsoft.asc | sudo apt-key add -

sudo apt-add-repository https://packages.microsoft.com/ubuntu/18.04/prod

sudo apt-get update

sudo apt-get install libk4a1.3 sudo apt-get install libk4a1.3-dev

sudo apt-get install k4a-tools

Or follow this installation instruction

To test the installation, connect your Azure Kinect and run

sudo k4aviewer

You should be able to recognize the device, press "??" to start streaming.

In order to use the Azure Kinect SDK with the device and without being 'root', you will need to setup udev rules. To do so:

Copy 'scripts/99-k4a.rules' from here into '/etc/udev/rules.d/'.

Detach and reattach Azure Kinect devices if attached during this process.

Azure Kinect ROS driver

cd ~/catkin_ws/src

git clone https://github.com/microsoft/Azure_Kinect_ROS_Driver.git

cd ~/catkin_ws && catkin_make

Ensenso

The below package and instruction are still valid

https://github.com/crigroup/ensenso

• If you can not run ueyecameramanager as root, use:

sudo QT_X11_NO_MITSHM=1 ueyecameramanager

This seems to be due to new security policies on 18.04, the above temporary workaround should do the job.

• If you encounter

error: ‘str’ is not a member of ‘boost’

when compiling ensenso_grabber.cpp, probably that is because you are using new version of libboost. In that case, inserting the following into ensenso_grabber.cpp should fix the error.

#include <boost/format.hpp>

• std::bad_alloc issue:

? different libboost versions conflict -> remove all /usr/lib/liboost* and /usr/include/boost/

Rmv build files and build again

ATI F/T sensor

The below package and instruction are still valid

https://github.com/fsuarez6/netft

Robotiq Gripper

Follow https://github.com/crigroup/robotiq to clone necessary repositories.

As you are using ROS Melodic, you will probably encounter errors with the new gazebo

The issue has been reported and temporarily fixed here https://github.com/crigroup/robotiq/issues/4#issuecomment-505989048

Or simply replace your mimic_joint_plugin.cpp file with https://drive.google.com/open?id=1FKmR92YMX1LCj7HrPY-XF7St2Ib01ILH

Python_pcl - incompatible!

libpcl_keypoints.so.1.7: cannot open shared object file: No such file or directory

As known issue when installing and running python_pcl in 18.04, but there has been limited progress on this issue

https://github.com/strawlab/python-pcl/issues/296

After so many attempts to build and fix the issue, I just gave up and decided to move to other libraries.

My recommendations:

https://github.com/intel-isl/Open3D

pip install open3d-python -U --no-cache-dir --user

pip3 install open3d-python -U --no-cache-dir --user

https://github.com/daavoo/pyntcloud

Emacs

sudo apt-get install emacs

Download ".emacs" file and put it in your home folder https://drive.google.com/file/d/1aIZeQu1H0u7J1KeRKB5RGVlizgIFfqyl/view?usp=sharing

mkdir .emacs.d

cd .emacs.d

mkdir lisp

cd lisp

curl -o tabbar.el https://raw.githubusercontent.com/dholm/tabbar/master/tabbar.el -o uncrustify-mode.el https://raw.githubusercontent.com/koko1000ban/emacs-uncrustify-mode/master/uncrustify-mode.el 

curl -o yaml-mode.el https://melpa.org/packages/yaml-mode-20200518.914.el

Side note for my lab mates ;)

Errors during the installation of the denso_common

If you encounter any errors

• with bcap:

Install from source https://github.com/fsuarez6/bcap

• with Urdf SharedPtr typedefs

Open RC8_ros_driver.cpp and Replace

boost::shared_ptr<const urdf::Joint>

with

urdf::JointConstSharedPtr