Install the ORK function package to step on the road and solutions

Install the ORK function package to step on the road and solutions

Implementation environment: Ubuntu16.04

Beginning to learn ROS robot development practice, record the problems and solutions encountered when installing the ORK function package, I use the Kinetic version of ROS, and the installation steps in the reference book are installed (start stepping on the pit).

1. Install the dependency library

code show as below:

sudo apt-get install meshlab
sudo apt-get install libosmesa6-dev
sudo apt-get install python-pyside.qtcore
sudo apt-get install python-pyside.qtgui

Example: pandas is a NumPy-based tool created to solve data analysis tasks

2. Create a workspace and initialize it with wstool

code show as below:

mkdir ork_ws && cd ork_ws 
wstool init src https://raw.github.com/wg-perception/object_recognition_core/master/doc/source/ork.rosinstall.kinetic.plus

Question 1
Internet search solution: Go to github to find the original file, link: link . Then download the ork.rosinstall.kinetic.plus file directly to ork_ws, and then proceed to the next steps. Spoiler in advance I tried this approach without success

3. Download function source code

code show as below:

cd src
wstool update -j8
git clone https://github.com/jbohren/xdot.git
cd ..
rosdep install --from-paths src -i -y

Question 2
The following error occurs when executing the command wstool update -j8
solution
1. Open the ork.rosinstall.kinetic.plus file, as shown in the figure below, copy and open the following links, download the corresponding files manually, and then unzip and modify the file name. Taking the first line as an example, the file name is changed to ecto .
2. After the download is complete, put it in the src folder, as shown in the figure below
3. Open a new terminal and enter the following code:

cd ork_ws/src
git clone https://github.com/jbohren/xdot.git
cd ..
rosdep install --from-paths src -i -y

The problem is solved, although the method is dirty, but it is effective. If you have a better method, I hope to comment and give pointers.

Fourth, compile

code show as below:

cd ork_ws
catkin_make

I thought that I could turn on the lazy mode and wait later, but encountered various problems during the compilation process.
Question 3
Error message after compilation:
solution
1. Login with root privileges

su root

2. View the current memory size

free -m

3. Create swap file

dd if=/dev/zero of=/var/swap bs=1024 count=1024000

Note, of=swapfile, replace swapfile with the location where you want to create the swap file, and the last item is the name of the swap file.

4. Create swap

mkswap /var/swap

5. Start swap

swapon /var/swap

6. Exit root privileges

Ctrl+D

The terminal implementation process is as follows: (This operation is performed every time before compilation)
Question 4
Error message after compilation:

solution
I checked the files in the corresponding path and found that there is no liboorocos-kdl.so.1.3.2 file, only liboorocos-kdl.so.1.3.0. Some big guys solved this problem through installation, but it feels a bit complicated. It is recommended to try the following methods first:

cd /opt/ros/kinetic/lib/
 sudo ln -s /opt/ros/kinetic/lib/liborocos-kdl.so.1.3 /opt/ros/kinetic/lib/liborocos-kdl.so.1.3.2

Five, set environment variables

code show as below:

echo "source ~/ork_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

The installation is successful, the time is a mystery, some people may not encounter these problems, I believe you are as lucky as me when you see it!