A meta-controller implementation for ROS1

• First you need to have a ROS Kinetic version with Python3 support, for example following these instructions
• Note: For regular usage you'll need to make sure to have the virtual environment activated, or things will break.
• We recommend you now create a workspace only for mros1_reasoner (and any other packages requiring Python3 in your project), using workspace overlaying, for example:

mkdir -p abb_metacontrol_ws/src
cd abb_metacontrol_ws
catkin init
catkin config --extend $HOME/ros_kinetic_py3/devel
catkin b

• We also advice you to create a separate workspace for "everything else", and only keep the reasoner package in the abb_metacontrol_ws workspace.
• IMP Note: For abb_metacontrol_ws you cannot use apt or rosdep install .. (as that will try to use apt and it will install the regular Kinetic Python 2 packages, which are invisible to abb_metacontrol_ws)
• For the non-Python 3 workspace and its packages you can use apt and rosdep install ..
• Since mros1_reasoner depends on cheops_system_state_msgs, you will need to copy the cheops_system_state_msgs package (and just that package) into the Python 3 workspace (ie: abb_metacontrol_ws), so it now exists in both the Python 2 as well as the Python 3 workspaces.

If you run into an issue with: $ sudo apt install python3-venv libpython3-dev python-catkin-tools try the following:

$ sudo apt clean
$ sudo apt update
$ sudo apt-key del 421C365BD9FF1F717815A3895523BAEEB01FA116
$ sudo -E apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
$ sudo apt clean && sudo apt update

Activate your virtual environment, source your ws and launch the reasoner:

$ source venv3.5_ros/bin/activate
$ source $YOUR_WS/devel/setup.bash
$ roslaunch mros1_reasoner run.launch