cd ~/catkin_ws/src
git clone https://github.com/smpl/smpl
git clone https://github.com/sbpl/sbpl
cd sbpl && mkdir build && cd build && cmake .. && make && sudo make install
cd ~/catkin_ws/src
git clone https://github.com/aurone/leatherman
catkin build

$ rosdep install --from-paths smpl -i -y
ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
sbpl_collision_checking: Cannot locate rosdep definition for [leatherman]
sbpl_collision_checking_test: Cannot locate rosdep definition for [leatherman]
smpl_ros: Cannot locate rosdep definition for [leatherman]
sbpl_pr2_robot_model: Cannot locate rosdep definition for [leatherman]
sbpl_kdl_robot_model: Cannot locate rosdep definition for [leatherman]
smpl_test: Cannot locate rosdep definition for [leatherman]

CMake Error at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
  Could not find a package configuration file provided by "octomap_ros" with
  any of the following names:

    octomap_rosConfig.cmake
    octomap_ros-config.cmake

  Add the installation prefix of "octomap_ros" to CMAKE_PREFIX_PATH or set
  "octomap_ros_DIR" to a directory containing one of the above files.  If
  "octomap_ros" provides a separate development package or SDK, be sure it
  has been installed.
Call Stack (most recent call first):
  CMakeLists.txt:10 (find_package)

$ sudo apt-get install ros-kinetic-octomap

$ sudo apt-get install ros-kinetic-octomap-ros

git clone https://github.com/pr2/pr2_kinematics.git -b kinetic-devel

CMake Error: The source 
"/home/user/catkin_ws/src/leatherman/CMakeLists.txt" 
does not match the source 
"/home/user/catkin_ws/src/leatherman/CMakeLists.txt" 
used to generate cache.  Re-run cmake with a different source directory.

cd ~/catkin_ws/build/leatherman
rm CMakeCache.txt

CMake Warning at /opt/ros/kinetic/share/cmake_modules/cmake/Modules/FindEigen.cmake:62 (message):
  The FindEigen.cmake Module in the cmake_modules package is deprecated.

  Please use the FindEigen3.cmake Module provided with Eigen.  Change
  instances of find_package(Eigen) to find_package(Eigen3).  Check the
  FindEigen3.cmake Module for the resulting CMake variable names.

Call Stack (most recent call first):
  CMakeLists.txt:10 (find_package)


CMake Warning at /opt/ros/kinetic/share/catkin/cmake/catkin_package.cmake:166 (message):
  catkin_package() DEPENDS on 'eigen' but neither 'eigen_INCLUDE_DIRS' nor
  'eigen_LIBRARIES' is defined.
Call Stack (most recent call first):
  /opt/ros/kinetic/share/catkin/cmake/catkin_package.cmake:102 (_catkin_package)
  CMakeLists.txt:18 (catkin_package)

ResourceNotFound: sbpl_collision_checking_test

export ROS_PACKAGE_PATH=~/catkin_ws/src/smpl:$ROS_PACKAGE_PATH

cd ~/catkin_ws/src
git clone https://github.com/aurone/pr2_sbpl_interface_config.git

cd ~/catkin_ws/src
git clone https://github.com/ros-planning/moveit_pr2.git
catkin build

cd ~/catkin_ws/src/pr2_sbpl_interface_config/launch
roslaunch demo.launch

ResourceNotFound: pr2_sbpl_interface_config

export ROS_PACKAGE_PATH=~/catkin_ws/src/pr2_sbpl_interface_config:$ROS_PACKAGE_PATH

[ WARN] [1565429858.098507537]: Link 'head_mount_kinect_ir_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1565429858.098572130]: Link 'head_mount_kinect_rgb_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1565429858.098596310]: Link 'head_mount_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1565429858.098603891]: Link 'head_mount_prosilica_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1565429858.100868856]: Link 'head_mount_link' is not known to URDF. Cannot disable collisons.
[ WARN] [1565429858.424241902]: The root link base_footprint has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
[ WARN] [1565429858.615169947]: Manifest not found in folder '~/constraints_approximation_database'. Not loading constraint approximations.

...

[ INFO] [1565429862.261874614]: Listening to '/move_group/monitored_planning_scene'
TIFFFetchNormalTag: Warning, Incompatible type for "RichTIFFIPTC"; tag ignored.
TIFFFieldWithTag: Internal error, unknown tag 0x829a.
TIFFReadDirectory: Warning, Sum of Photometric type-related color channels and ExtraSamples doesn't match SamplesPerPixel. Defining non-color channels as ExtraSamples..
TIFFFetchNormalTag: Warning, Incompatible type for "RichTIFFIPTC"; tag ignored.

...

[ERROR] [1565429863.746551544]: Group 'base' does not have a parent link
[ WARN] [1565429863.746672912]: The root link base_footprint has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
[ WARN] [1565429864.747415366]: 
Deprecation warning: Trajectory execution service is deprecated (was replaced by an action).
Replace 'MoveGroupExecuteService' with 'MoveGroupExecuteTrajectoryAction' in move_group.launch
[ WARN] [1565429864.768311492]: Interactive marker 'EE:goal_r_wrist_roll_link' contains unnormalized quaternions. This warning will only be output once but may be true for others; enable DEBUG messages for ros.rviz.quaternions to see more details.

<param if="$(arg load_robot_description)" name="robot_description" command="$(find xacro)/xacro '$(find pr2_description)/robots/pr2.urdf.xacro' --inorder" />

<param if="$(arg load_robot_description)" name="robot_description" command="$(find xacro)/xacro '$(find pr2_description)/robots/pr2.urdf.xacro' KINECT1:='true' --inorder" />

roscd pr2_description
sudo vim urdf/base_v0/base.urdf.xacro

    <link name="${name}_footprint">
      <inertial>
        <mass value="1.0" />
        <origin xyz="0 0 0" />
        <inertia ixx="0.01" ixy="0.0" ixz="0.0"
                 iyy="0.01" iyz="0.0" izz="0.01" />
      </inertial>
      <visual>
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0.01 0.01 0.01" />
        </geometry>

        <material name="White" />
      </visual>
      <collision>
        <!-- represent base collision with a simple rectangular model, positioned by base_size_z s.t. top
             surface of the collision box matches the top surface of the PR2 base -->
        <origin xyz="0 0 ${0.051+base_collision_size_z/2}" rpy="0 0 0" />
        <geometry>
          <box size="0.001 0.001 0.001" />
        </geometry>
      </collision>
    </link>

    <link name="${name}_footprint">
      <!--
      <inertial>
        <mass value="1.0" />
        <origin xyz="0 0 0" />
        <inertia ixx="0.01" ixy="0.0" ixz="0.0"
                 iyy="0.01" iyz="0.0" izz="0.01" />
      </inertial>
      -->
      <visual>
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0.01 0.01 0.01" />
        </geometry>

        <material name="White" />
      </visual>
      <collision>
        <!-- represent base collision with a simple rectangular model, positioned by base_size_z s.t. top
             surface of the collision box matches the top surface of the PR2 base -->
        <origin xyz="0 0 ${0.051+base_collision_size_z/2}" rpy="0 0 0" />
        <geometry>
          <box size="0.001 0.001 0.001" />
        </geometry>
      </collision>
    </link>

[ WARN] [1565664107.508820196]: The STL file 'package://pr2_description/meshes/sensors/kinect_prosilica_v0/115x100_swept_back--coarse.STL' is malformed. It starts with the word 'solid', indicating that it's an ASCII STL file, but it does not contain the word 'endsolid' so it is either a malformed ASCII STL file or it is actually a binary STL file. Trying to interpret it as a binary STL file instead.