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move repos and update README

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This commit is contained in:
Ilya Uraev 2024-02-16 20:09:05 +03:00
parent 9cdd6d1d14
commit ccd9fd9a75
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15
README.md
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@ -26,20 +26,27 @@ Prepare workspace & install dependencies (So far only tested with UR robot arm)
```bash
mkdir -p ~/robossembler_ws/src && cd ~/robossembler_ws/src
git clone https://gitlab.com/robosphere/robossembler-ros2
vcs import . < robossembler-ros2/rbs.sim.repos
vcs import . < robossembler-ros2/repos/sim.rbs.repos
cd ..
rosdep install -y -r -q --from-paths src --ignore-src --rosdistro humble
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. -->
Additionally, if you want to use Cartesian controllers, such as stiffness or others, you need to execute the following:
```
# in directory robossembler_ws/src
vcs import . < robossembler-ros2/repos/cartesian_controllers.repos
```
This will also install `ros2_control` and `gz_ros2_control` as packages, so it is recommended to delete global packages if they have been installed.
### Set Gazebo enviroment variables
Replace `[WS_FOLDER]` with your workspace folder
```bash
echo "export IGN_GAZEBO_RESOURCE_PATH=${IGN_GAZEBO_RESOURCE_PATH}:~/[WS_FOLDER]/install/robotiq_description/share/:~/[WS_FOLDER]/install/rbs_simulation/share/rbs_simulation/" >> ~/.bashrc
echo "export IGN_GAZEBO_RESOURCE_PATH=${IGN_GAZEBO_RESOURCE_PATH}:~/[WS_FOLDER]/install/rbs_simulation/share/rbs_simulation/" >> ~/.bashrc
# or if you have alredy built the workspace
echo "export IGN_GAZEBO_RESOURCE_PATH=${IGN_GAZEBO_RESOURCE_PATH}:~/$(ros2 pkg prefix rbs_simulation)/share/rbs_simulation/" >> ~/.bashrc
```
### Examples
Activate current ROS2 enviroment:
```

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repos/cartesian_controllers.repos Normal file
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@ -0,0 +1,13 @@
repositories:
cartesian-controllers:
type: git
url: https://github.com/fzi-forschungszentrum-informatik/cartesian_controllers.git
version: ros2
ros2_control:
type: git
url: https://github.com/solid-sinusoid/gz_ros2_control.git
version: gz-ros2-cartesian-controllers
gz_ros2_control:
type: git
url: https://github.com/solid-sinusoid/gz_ros2_control.git
version: pass-robot-description

4
rbs.real.repos → repos/real.repos
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@ -15,7 +15,3 @@ repositories:
type: git
url: https://gitlab.com/robossembler/arm-tools/urdf-model-shrunk-gripper-egp-40-n-n-b.git
version: 2-add-ros2-control
gz_ros2_control:
type: git
url: https://github.com/solid-sinusoid/gz_ros2_control.git
version: ft-sensor-broadcaster

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repos/sim.rbs.repos Normal file
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@ -0,0 +1,13 @@
repositories:
rbs_arm:
type: git
url: https://github.com/solid-sinusoid/rbs-arm.git
version: main
rbs_gripper:
type: git
url: https://github.com/solid-sinusoid/rbs-gripper.git
version: main
behavior_tree:
type: git
url: https://github.com/solid-sinusoid/behavior_tree.git
version: master

4
rbs.sim.repos → repos/sim.ur.repos
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@ -15,7 +15,3 @@ repositories:
type: git
url: https://gitlab.com/robossembler/arm-tools/urdf-model-shrunk-gripper-egp-40-n-n-b.git
version: 2-add-ros2-control
gz_ros2_control:
type: git
url: https://github.com/solid-sinusoid/gz_ros2_control.git
version: ft-sensor-broadcaster