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add ft sensor broadcaster

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This commit is contained in:
Ilya Uraev 2023-08-17 15:05:46 +03:00
parent ecb179d95d
commit 478cde4e32
3 changed files with 9 additions and 5 deletions
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2
README.md
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@ -27,7 +27,7 @@ git clone https://gitlab.com/robosphere/robossembler-ros2
vcs import . < robossembler-ros2/rbs.repos vcs import . < robossembler-ros2/rbs.repos
cd .. cd ..
rosdep install -y -r -q --from-paths src --ignore-src --rosdistro humble rosdep install -y -r -q --from-paths src --ignore-src --rosdistro humble
colcon build --packages-skip cartesian_controller_simulation cartesian_controller_tests --cmake-args -DCMAKE_BUILD_TYPE=Release --symlink-install colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --symlink-install
``` ```
For simulation with Mujoco, pls [ref](https://github.com/fzi-forschungszentrum-informatik/cartesian_controllers/blob/fdaa9a2dd0ce15fc949b127dd1164095504273fb/cartesian_controller_simulation/README.md) build and install section. For simulation with Mujoco, pls [ref](https://github.com/fzi-forschungszentrum-informatik/cartesian_controllers/blob/fdaa9a2dd0ce15fc949b127dd1164095504273fb/cartesian_controller_simulation/README.md) build and install section.

10
rbs.repos
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@ -15,7 +15,11 @@ repositories:
type: git type: git
url: https://github.com/solid-sinusoid/ros2_robotiq_gripper.git url: https://github.com/solid-sinusoid/ros2_robotiq_gripper.git
version: dev version: dev
cartesian_controllers: # cartesian_controllers:
# type: git
# url: https://github.com/fzi-forschungszentrum-informatik/cartesian_controllers.git
# version: ros2
gz_ros2_control:
type: git type: git
url: https://github.com/fzi-forschungszentrum-informatik/cartesian_controllers.git url: https://github.com/solid-sinusoid/gz_ros2_control.git
version: ros2 version: ft-sensor-broadcaster

2
rbs_bringup/launch/bringup.launch.py
View file

@ -119,7 +119,7 @@ def generate_launch_description():
) )
) )
declared_arguments.append( declared_arguments.append(
DeclareLaunchArgument("with_gripper", default_value="false", description="With gripper or not?") DeclareLaunchArgument("with_gripper", default_value="true", description="With gripper or not?")
) )
declared_arguments.append( declared_arguments.append(
DeclareLaunchArgument("launch_rviz", default_value="true", description="Launch RViz?") DeclareLaunchArgument("launch_rviz", default_value="true", description="Launch RViz?")