ros apollo vrep project ubuntu14.04 (一)

1 ros indigo [14 Indigo, 15 Jade, 16 Kinetic, 17 Lunar]

   sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

   sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116

   sudo apt-get update && sudo apt-get install ros-indigo-desktop-full

   rosdep update

   sudo rosdep init [/etc/ros/rosdep/sources.list.d/20-default.list] delete if want re-init

   echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc

   source .bashrc

create ros workspace:  [ http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment ]

   mkdir -p ~/catkin_ws/src

   cd ~/catkin_ws

   catkin_make

  source devel/setup.bash

2 vrep install [http://www.coppeliarobotics.com/downloads.html]

   2.1 download V-REP PRO EDU, V-REP source code, DYNAMICS PLUGIN source code MESH CALCULATION PLUGIN source code

   2.2 goto http://www.coppeliarobotics.com/helpFiles/en/compilingVrep.htm

   2.3 make sure qt + qt creator installed

   2.4 Install QScintilla2 [http://pyqt.sourceforge.net/Docs/QScintilla2/]

        cd Qt4Qt5 && qmake && make && make install

        cd designer-Qt4Qt5 && qmake && make && make install

   2.5 install boost C++ Library

   2.6 install Lua5.1 

         sudo apt-get install lua5.1 lua5.1-doc lua5.1-lgi lua5.1-lgi-dev lua5.1-policy lua5.1-policy-dev liblua5.1-0 liblua5.1-0-dbg liblua5.1-0-dev liblua5.1-dev

   2.7 build v_rep source code

         edit v_rep.pro: path to your boost lib, QScintilla folder, lua5.1 folder etc

         qmake && make -j && make install

   2.8 build DYNAMICS PLUGIN  && MESH CALCULATION PLUGIN

   2.9 run vrep.sh

   2.10 export VREP_ROOT_DIR

3  vrep_ros_bridge install  [https://github.com/lagadic/vrep_ros_bridge/tree/master]

   3.1 cd /your/catkin_ws/src

   3.2 git clone --recursive https://github.com/lagadic/vrep_ros_bridge.git

   3.3 source /opt/ros/indigo/setup.bash  &&  /your/catkin_ws/catkin/devel/setup.bash

   3.4 catkin_make

         with error "Could not find a package configuration file provided by "telekyb_msgs" with"

         cd src/vrep_ros_bridge/quadrotor_tk_handler

         touch CATKIN_IGNORE

   3.5 catkin_make --pkg vrep_ros_bridge --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo

   3.6 goto VREP_ROOT_DIR, create link:    ln -s /your/catkin_ws/catkin/devel/lib/libv_repExtRosBridge.so

   3.7 test install [http://wiki.ros.org/vrep_ros_bridge#Installation_test]

          roscore

         ./vrep.sh

4  vrep_car_simulation [https://github.com/OSSDC/vrep_car_simulation]

   

QA: 

   1 Error: package 'vrep_ros_plugin' not found

      cd /home/ypzhang/workspace/catkin/devel

      source setup.bash

      rospack find vrep_ros_plugin