CRAM installation

Prerequisites

OS and ROS

The recommended setup is Ubuntu 16.04 LTS with ROS Kinetic.
This is the setup under which the CRAM team is working and it is best supported.

Most CRAM components should also work on older Ubuntu versions under ROS Indigo etc. but with no guarantee. If you encounter any incompatibilities / bugs, please let us know.

If you don't have the latest version of ROS, install it (the desktop non-full version should be enough).
Don't forget to source the environment setup file and

$ sudo rosdep init
$ rosdep update

IDE and the interactive shell

Your chance to get a bit acquainted with Emacs if you've never used it before.

$ sudo apt-get install ros-DISTRO-roslisp-repl

where DISTRO is your ROS version, e.g., indigo or kinetic.

For information on how to use the IDE check the Setup and IDE page.

ROS workspace management tools

You will need those for setting up the ROS workspace and checking out code.

$ sudo apt-get install python-rosinstall python-wstool

Installation

This is a guide for installing the main CRAM packages. It covers installing the packages you need to get the system up and running to the point where you can run and test it in a simulation mode. Setting up the system on a real robot is more complex (mostly involving the usual ROS-based platform setup) and is out of scope of this guide.

Nevertheless, CRAM is a big system that has some external dependencies. Most of them are automatically installed as Debian packages, some you need to install from source, including the knowledge processing system KnowRob.

ROS workspace setup

Skip this part if you already have a ROS workspace.

If you don't have a ROS workspace, please create one. For example, you can do the following:

$ mkdir -p ~/workspace/ros/src
$ cd ~/workspace/ros
$ catkin_make
$ source devel/setup.bash

We create the workspace in the $HOME/workspace directory. Make sure you adjust the paths if you want to create them somewhere else.

If during catkin_make you got an error that it is not defined, it means that you didn't finish the ROS installation. Here is a hint: you need to source the ROS environment for catkin_make to work:

$ source /opt/ros/DISTRO/setup.bash
where DISTRO is, e.g., kinetic.

Execute these commands and continue from the catkin_make step.

Now if you execute roscd you will end up in ros/devel.

Don't forget to add the corresponding entry to the bottom of your ~/.bashrc:

  source $HOME/workspace/ros/devel/setup.bash

CRAM and dependencies installation (ROS Kinetic Ubuntu 16.04)

Check out and compile all the necessary repositories:

$ cd ~/workspace/ros/src
$ wstool init
$ wstool merge https://raw.githubusercontent.com/cram2/cram/master/cram-16.04.rosinstall
$ wstool update
$ cd ~/workspace/ros
$ rosdep update
$ rosdep install --ignore-src --from-paths src/
$ catkin_make

Note that the wstool update command is the one that downloads the source code of CRAM and its dependencies such as KnowRob.

If something went wrong consult the Support page or feel free to drop an email to the person maintaining this page (check the “Last edited by” part of the footer).

CRAM and dependencies installation (ROS Indigo Ubuntu 14.04)

CRAM uses the newest version of the Lisp compiler which is not available on 14.04. That is not a problem as we can install it ourselves. For that please download the SBCL version 1.3.1 from the SBCL webpage. You will most likely need the 64 bit Linux version. Then extract the archive (in Nautilus, the file browser, it will be right clickextract here). Then go to the place where you extracted the archive in the terminal and execute the install script:

$ cd ~/Downloads/sbcl-1.3.1-x86-64-linux && sh install.sh

KnowRob seems to have some issues with Java 7, so if the compilation step below complains about rosjava or gradle, please install Java 8.

Next step is to check out and compile all the necessary repositories:

$ cd ~/workspace/ros/src
$ wstool init
$ wstool merge https://raw.githubusercontent.com/cram2/cram/master/cram-14.04.rosinstall
$ wstool update
$ cd ~/workspace/ros
$ rosdep update
$ rosdep install --ignore-src --from-paths src/
$ catkin_make

Note that the wstool update command is the one that downloads the source code of CRAM and its dependencies such as KnowRob.

If something went wrong consult the Support page or feel free to drop an email to the person maintaining this page (check the “Last edited by” part of the footer).

Get ready for development

Before you open emacs you might want to configure it, at least set up the clipboard properly to enable copy/paste from/to other apps. That is described in the Setup and IDE and Emacs Initialization File pages and there is also more than enough material available online.

Open your emacs and enjoy the repl animation ;)

$ roslisp_repl &

Compiling packages using the ROS build system is not enough for code written in Lisp. To compile the CRAM packages that you want to use in Lisp, type the following in the REPL in your Emacs:

  ,
  r-l-s
  cram_NAME
  RET
where NAME is e.g. language.

You're ready for some awesome programming! We recommend to go through the tutorials first. You might also find some useful links on the Getting Started page.