techman_robot ROS industrial and moveIt!
===
安裝環境: ubuntu14.04 Ros indigo

wstool init .
wstool merge https://raw.githubusercontent.com/ros-planning/moveit/indigo-devel/moveit.rosinstall
wstool update
rosdep install --from-paths . --ignore-src --rosdistro indigo
cd ..
catkin config --extend /opt/ros/indigo --cmake-args -DCMAKE_BUILD_TYPE=Release
catkin build

#### issue

catkin_tool autocomplete
python-assimp

sudo apt-get install ros-indigo-industrial-core ros-indigo-open-industrial-ros-controllers

sudo apt-get install ros-indigo-moveit-full

`sudo apt-get install python-wstool python-catkin-tools`
http://answers.ros.org/question/203542/moveit-installation/

http://docs.ros.org/indigo/api/moveit_tutorials/html/

`The following packages have unmet dependencies:
python-pyassimp : Depends: libassimp3 (< 3.0~dfsg+1~) but 3.2~dfsg-3~urp8+1 is to be installed`

solve:
sudo apt-get install python-rosinstall

`rosdep install --from-paths WORKSPACE --ignore-src --rosdistro=ROSDISTRO`

#### build moveIt from source
https://raw.githubusercontent.com/ros-planning/moveit/indigo-devel/moveit.rosinstall

http://wiki.ros.org/indigo/Migration#cmake_modules

issue

CMake Error at /opt/ros/indigo/share/catkin/cmake/catkin_package.cmake:296 (message):
  catkin_package() include dir 'include/eigen3' does not exist relative to
  '/home/schwarmcyc/moveIt_ws/src/moveit/moveit_kinematics'

http://answers.ros.org/question/213694/catkin_package-include-dir-include-does-not-exist/

https://github.com/ethz-asl/glog_catkin/issues/15

while building techman robot
https://github.com/ros-industrial/universal_robot/issues/274

techman_robot/tm_kinematics/include/tm_kinematics/tm_moveit_plugin.h:120:74: fatal error: moveit/kdl_kinematics_plugin/chainiksolver_pos_nr_jl_mimic.hpp: No such file or directory
 #include <moveit/kdl_kinematics_plugin/chainiksolver_pos_nr_jl_mimic.hpp>

solution:
https://github.com/ros-industrial/universal_robot/issues/274

https://github.com/ros-industrial/universal_robot/commit/8f7f2418edc1d507853c1c766b6a79123393007b

`find_package(catkin REQUIRED COMPONENTS roscpp geometry_msgs moveit_core moveit_kinematics`

` CATKIN_DEPENDS roscpp geometry_msgs moveit_core moveit_kinematics moveit_ros_planning`

when runnig isci tm5

Could not load controller 'arm_controller' because controller type 'position_controllers/JointTrajectoryController' does not exist

solve by install [ros_controllers](https://github.com/ros-controls/ros_controllersv)

and

 Unable to identify any set of controllers that can actuate the specified joints: [ elbow_1_joint shoulder_1_joint shoulder_2_joint wrist_1_joint wrist_2_joint wrist_3_joint ]
[ERROR] [1489343843.010892729, 51.930000000]: Known controllers and their joints:

https://github.com/ros-controls/ros_controllers.git

http://answers.ros.org/question/189839/robot-in-rviz-flashes/

issue if both run rviz and gazebo the robot will flash in rviz

http://answers.ros.org/question/189839/robot-in-rviz-flashes/

tm700_demo_test

gflag
dpkg --listfiles libgflags-dev
https://github.com/google/glog/issues/4

https://github.com/ros/cmake_modules/issues/36

gflag   file RELATIVE_PATH must be passed a full path to the file:

https://github.com/robotology/yarp/commit/67aeb4362a99bad469ad97f0df09e1f320694511

moveIt! release version
https://github.com/ros-planning/moveit/releases

###### tags: `rosindustrial`