pick_ik : Installation

Install from binaries

You can install the latest release of pick_ik from binaries using:

sudo apt install ros-${ROS_DISTRO}-pick-ik

where ${ROS_DISTRO} refers to your ROS distribution (humble, rolling, etc.).

Install from source

  1. Create a colcon workspace:

export COLCON_WS=~/ws_moveit2/
mkdir -p $COLCON_WS/src

  1. Clone this repository in the src directory of your workspace.

cd $COLCON_WS/src
git clone -b main https://github.com/PickNikRobotics/pick_ik.git

  1. Set up colcon mixins.

sudo apt install python3-colcon-common-extensions
sudo apt install python3-colcon-mixin
colcon mixin add default https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
colcon mixin update default

  1. Build the workspace.

cd /path/to/your/workspace
colcon build --mixin release

Local development in Dev Containers

This repo is also set up for VSCode Dev Containers, so you can develop directly in a Docker container.

  1. Install Docker and add yourself to the Docker group.

curl -fsSL https://get.docker.com -o get-docker.sh
sudo sh get-docker.sh

sudo groupadd docker
sudo usermod -aG docker $USER
newgrp docker

  1. Run these commands to create a directory to mount for ccache and another to mount for the ros directory containing log files.

mkdir -p ~/.local/.pick_ik/ccache
mkdir -p ~/.local/.pick_ik/ros

  1. Open the project in VSCode and follow the prompts to open the project in a Dev Container.