ProMP

Description

Probabilistic Movement Primitives implementation for learning motion of basic tasks in robotics, based on the research of Alexandros Paraschos, Christian Daniel, Jan Peters, and Gerhard Neumann at TU Darmstadt, Germany.

Installation

1. Install the Baxter workspace

2. Install baxter-pykdl

3. Enter your ROS workspace

• cd ~/ros_ws/src

4. Clone the following repositories into your ros_ws/src folder

• git clone https://github.com/baxter-flowers/promplib.git
• git clone https://github.com/baxter-flowers/baxter_commander.git
• git clone https://github.com/baxter-flowers/trac_ik_baxter.git
• git clone https://github.com/baxter-flowers/trac_ik.git

5. Install the baxter_commander dependancies

• sudo apt-get install ros-indigo-moveit-full python-pip
• sudo pip install xmltodict

6. If you get Invoking "make install -j8 -l8" failed due to error: package directory 'src/trajectories' does not exist

• cd ~ros_ws/src/baxter_commander/src
• mkdir -p trajectories
• cd ~ros_ws/

7. Build

• catkin_make
• catkin_make install
• source devel/setup.bash

Installation / Runtime errors

1. fatal error: nlopt.hpp: No such file or directory

• sudo apt-get install libnlopt-dev

2. Import error: no module name ros

• cd ~/ros_ws/src/promplib
• gedit setup.py
• edit this line to be d['packages'] = ['promp', 'promp.ros'] and save and close the file
• sudo python setup.py install
• cd ~/ros_ws | catkin_make | catkin_make install

3. OSError: [Errno 110] Right limb init failed to get current joint_states from robot/joint_states

• Run the code on Baxter's computer to allow access of joint angles publisher thread

4. If code is stuck at: rospy.wait_for_service(self._kinematics_names['ik'][self._selected_ik]) or gives error: rospy.exceptions.ROSInterruptException: rospy shutdown

• Comment line - of file.py