Installation#

Pyrobopath can be installed as a standalone Python package. A ROS package is available if you plan to use ROS to execute Pyrobopath schedules.

Step 1: Installing the Python Package#

The Python package can be installed locally or via the PyPI package index.

Install pyrobopath from the PyPI package index.

pip install pyrobopath

To install the python package locally from source, clone the repository and install with pip.

git clone git@github.com:alexarbogast/pyrobopath.git
cd pyrobopath
pip install -e .

If you would like to run the tests or build the docs locally.

pip install -e .[dev,docs]

To verify the installation, run tests with pytest or unittest

pytest # pytest
python3 -m unittest # unittest

If you plan to only use the Python package provided by Pyrobopath, you can stop here and skip the following steps installing the ROS dependencies.

Create a catkin workspace

mkdir -p pyrobopath_ws/src && cd pyrobopath_ws/src

The Pyrobopath ROS interface depends on the cartesian_planning package for executing toolpath schedules.

To use the package, clone the alexarbogast/cartesian_planning and alexarbogast/pyrobopath_ros repositories into your catkin workspace and build the packages.

git clone git@github.com:alexarbogast/cartesian_planning.git
git clone git@github.com:alexarbogast/pyrobopath_ros.git
cd ../
catkin build

Specific robot and multi-robot system layouts ( urdf, ros_control, and parameter files) are required by cartesian_planning and pyrobopath _ros.

Note

Pyrobopath is configured to work with system configurations similar to the one pictured below.

See the examples below for reference when creating a system: