Edit readme for ROS Kinetic

Author: Svetly

README.md

@@ -1,9 +1,9 @@
 NXT-ROS
 =======
 
-A software stack containing tools for using LEGO Mindstorms NXT with ROS. 
+A software stack containing tools for using LEGO Mindstorms NXT with ROS.
 
-This branch depends on:<br> 	&#8226; ROS Groovy<br> &#8226; Python 2.x<br> &#8226; NXT-Python v2.2.2  
+This branch depends on:<br> 	&#8226; ROS Kinetic<br> &#8226; Python 2.x<br> &#8226; NXT-Python v2.2.2  
 
 Originally forked from: http://stack-nxt.foote-ros-pkg.googlecode.com/hg  
 
@@ -21,55 +21,27 @@ The original documentation has more detailed information:
 ###Package status
 
 These packages use `rosbuild` and were tested  
-with ROS Groovy on Ubuntu 12.04.
+with ROS Kinetic on Ubuntu 16.04.
 
 The following features have been tested:
 
 **nxt** stack:  
 
  - **nxt_controllers**  
-Compiles ok, the base_controller has been tested.
-
  - **nxt_description**  
-Working.
-
  - **nxt_lxf2urdf**  
-Compiles ok, un-tested.
-
  - **nxt_msgs**  
-Working.
-
  - **nxt_python**  
-Working.
-
  - **nxt_ros**  
-Working.  
-There is a new option to read the position of a motor as the absolute angle from 0 to 2*pi radians. By default the motor position is measured as the total +/- rotation in either direction, relative to the starting position.
-
  - **nxt_ros_test**  
-Working.  
-
  - **nxt_rviz_plugin**  
-Working.  
-
 **nxt_robots** stack:  
-
  - **nxt_robot_gyro_car**  
-Working. The robot model can be viewed in Rviz.  
-
  - **nxt_robot_kit_test**  
-Working. This is a test package, so the robot looks like a pile of disconnected LEGO parts when viewed in Rviz.  
-
  - **nxt_robot_sensor_car**  
-Working. The robot model can be viewed in Rviz.  
-
 **nxt_apps** stack:  
-
  - **nxt_assisted_teleop**  
-Working.  
-
  - **nxt_teleop**  
-Working.  
 
 .
 
@@ -79,42 +51,62 @@ Working.
 Upgrade the firmware on your NXT brick.  
 The minimum required version is 1.28, but 1.31 is the latest as of Jan 2016.
 
-Clone the Groovy branch of this repository:  
+Clone the Kinetic branch of this repository:  
 > $ cd ~/  
-> $ git clone https://github.com/dbworth/NXT-ROS.git --branch groovy
+> $ git clone https://github.com/dbworth/NXT-ROS.git --branch kinetic
 
-Copy the 3 stacks into your ROS Workspace.  
+Copy the 3 stacks into your ROS package path.  
 Note: you only need the `nxt` stack to get started.
-> $ cp NXT-ROS/nxt ~/ROS_WORKSPACE/  
-> $ cp NXT-ROS/nxt_robots ~/ROS_WORKSPACE/  
-> $ cp NXT-ROS/nxt_apps ~/ROS_WORKSPACE/  
-
-Add the stacks to your $ROS_PACKAGE_PATH.  
-You might like to add these commands to your `~/.bashrc` file.  
-> $ export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/ros_workspace/nxt  
-> $ export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/ros_workspace/nxt_robots  
-> $ export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/ros_workspace/nxt_apps  
+> $ cp NXT-ROS/nxt $ROS_PACKAGE_PATH  
+> $ cp NXT-ROS/nxt_robots $ROS_PACKAGE_PATH  
+> $ cp NXT-ROS/nxt_apps $ROS_PACKAGE_PATH   
 
 **Install dependencies:**  
 
 NXT-Python v2.2.2 is automatically installed in the `/src` directory of the `nxt_python` package when we run `rosmake`.
 
-You can install the other dependencies using the Ubuntu Package Manager or ROSdep: 
-> $ sudo apt-get install ros-groovy-ros-comm ros-groovy-common-msgs ros-groovy-joystick-drivers ros-groovy-visualization ros-groovy-navigation ros-groovy-orocos-kinematics-dynamics  
-> $ sudo aptitude install libusb-dev python-usb python-bluez  
-
-or 
-
-> $ sudo rosdep install -y nxt  
-> $ sudo rosdep install -y nxt_robots  
-> $ sudo rosdep install -y nxt_apps  
+You can install the other dependencies using the Ubuntu Package Manager or ROSdep:
+> $ sudo apt-get install ogre-1.9-tools ros-kinetic-bfl libcppunit-dev libcppunit-1.13-0v5 ros-kinetic-joy ros-kinetic-robot-pose-ekf ros-kinetic-costmap-2d ros-kinetic-navigation
+> $ sudo apt-get install libbluetooth-dev
+> $ sudo pip install PyBluez PyUSB
 
 Compile the stacks of packages:  
 > $ rosmake nxt  
+
+Than you will get an *error* while compilling *linest_rviz_plugin*.  
+Thats because of parse error at **"BOOST_JOIN"**.  
+This macros are used to define a namespace name.  
+I don't know what the right way to fix this but I know two ways to solve it:
+1. Add to file, where including file with **"BOOST_JOIN"** inside (like **has_binary_operator.hp**)  
+
+   Example:
+   ```
+   #ifndef Q_MOC_RUN
+   #include <boost/type_traits/detail/has_binary_operator.hp>
+   #endif
+   ```
+
+   But it didn't help me. Mb I used it wrong way.  
+
+2. Compile **nxt** by parts.
+
+   Compile first part of **nxt** with last **libboost**, then downgrade to **1.48** and continue compiling  and then go back to last version and end compiling.
+   > $ sudo dpkg -P --force-all libboost-all-dev  
+   > $ sudo dpkg -P --force-all libboost1.58-dev:amd64  
+   > $ sudo dpkg -P --force-all libboost1.58-tools-dev  
+
+   > $ rosmake nxt  
+
+   > $ sudo apt-get update  
+   > $ sudo apt-get -f install  
+
+   > $ rosmake nxt  
+
+
 > $ rosmake nxt_robots  
 > $ rosmake nxt_apps  
 
-**Set the USB permissions:** 
+**Set the USB permissions:**
 
 Add a new group:
 > $ sudo groupadd lego
@@ -125,11 +117,8 @@ Add yourself to that group:
 For Ubuntu versions before 12.0, create a udev rules file for the lego group that you just created:  
 > $ echo "BUS==\"usb\", ATTRS{idVendor}==\"0694\", GROUP=\"lego\", MODE=\"0660\"" > /tmp/70-lego.rules && sudo mv /tmp/70-lego.rules /etc/udev/rules.d/70-lego.rules
 
-For Ubuntu 12.04 use:  
-> $ echo "SUBSYSTEM==\"usb\", ATTRS{idVendor}==\"0694\", GROUP=\"lego\", MODE=\"0660\"" > /tmp/70-lego.rules && sudo mv /tmp/70-lego.rules /etc/udev/rules.d/70-lego.rules
-
 Restart udev:
-> $ sudo restart udev
+> $ sudo system
 
 Log-out or restart your computer.
 
@@ -158,15 +147,15 @@ Connect a touch sensor to port 1.
 > $ rosrun nxt_python touch_sensor_test.py  
 
 When you push the touch sensor, the output on the screen will change.  
-The node automatically exits are 5 seconds. 
+The node automatically exits are 5 seconds.
 
 Now connect a motor to port A.  
 > $ roslaunch nxt_ros_test test.launch
 
 Check the status of the touch sensor using ROS:  
 > $ rostopic echo /my_touch_sensor  
 
-When you push the touch sensor, the boolean value published in the ROS msg will change. 
+When you push the touch sensor, the boolean value published in the ROS msg will change.
 
 Read the position of the motor using ROS:  
 >  $ rostopic echo /joint_states  
@@ -209,7 +198,7 @@ You can also use a joystick.
 Configure the joystick using the instructions here:  
 http://wiki.ros.org/joy/Tutorials/ConfiguringALinuxJoystick
 
-> $ roslaunch nxt_teleop teleop_joy.launch 
+> $ roslaunch nxt_teleop teleop_joy.launch
 
 With the Microsoft XBox 360 joystick, you need to hold down the top-left button. The left joystick controls turning, the right joystick goes forward.  
 
@@ -231,8 +220,3 @@ Test the controller using the provided test script:
 
 
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