move repos and update README
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5 changed files with 37 additions and 12 deletions
15
README.md
15
README.md
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@ -26,20 +26,27 @@ Prepare workspace & install dependencies (So far only tested with UR robot arm)
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```bash
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mkdir -p ~/robossembler_ws/src && cd ~/robossembler_ws/src
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git clone https://gitlab.com/robosphere/robossembler-ros2
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vcs import . < robossembler-ros2/rbs.sim.repos
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vcs import . < robossembler-ros2/repos/sim.rbs.repos
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cd ..
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rosdep install -y -r -q --from-paths src --ignore-src --rosdistro humble
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colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --symlink-install
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```
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<!-- 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. -->
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Additionally, if you want to use Cartesian controllers, such as stiffness or others, you need to execute the following:
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```
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# in directory robossembler_ws/src
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vcs import . < robossembler-ros2/repos/cartesian_controllers.repos
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```
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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.
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### Set Gazebo enviroment variables
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Replace `[WS_FOLDER]` with your workspace folder
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```bash
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echo "export IGN_GAZEBO_RESOURCE_PATH=${IGN_GAZEBO_RESOURCE_PATH}:~/[WS_FOLDER]/install/robotiq_description/share/:~/[WS_FOLDER]/install/rbs_simulation/share/rbs_simulation/" >> ~/.bashrc
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echo "export IGN_GAZEBO_RESOURCE_PATH=${IGN_GAZEBO_RESOURCE_PATH}:~/[WS_FOLDER]/install/rbs_simulation/share/rbs_simulation/" >> ~/.bashrc
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# or if you have alredy built the workspace
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echo "export IGN_GAZEBO_RESOURCE_PATH=${IGN_GAZEBO_RESOURCE_PATH}:~/$(ros2 pkg prefix rbs_simulation)/share/rbs_simulation/" >> ~/.bashrc
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```
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### Examples
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Activate current ROS2 enviroment:
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```
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13
repos/cartesian_controllers.repos
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13
repos/cartesian_controllers.repos
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@ -0,0 +1,13 @@
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repositories:
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cartesian-controllers:
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type: git
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url: https://github.com/fzi-forschungszentrum-informatik/cartesian_controllers.git
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version: ros2
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ros2_control:
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type: git
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url: https://github.com/solid-sinusoid/gz_ros2_control.git
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version: gz-ros2-cartesian-controllers
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gz_ros2_control:
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type: git
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url: https://github.com/solid-sinusoid/gz_ros2_control.git
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version: pass-robot-description
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@ -15,7 +15,3 @@ repositories:
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type: git
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url: https://gitlab.com/robossembler/arm-tools/urdf-model-shrunk-gripper-egp-40-n-n-b.git
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version: 2-add-ros2-control
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gz_ros2_control:
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type: git
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url: https://github.com/solid-sinusoid/gz_ros2_control.git
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version: ft-sensor-broadcaster
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13
repos/sim.rbs.repos
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13
repos/sim.rbs.repos
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repositories:
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rbs_arm:
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type: git
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url: https://github.com/solid-sinusoid/rbs-arm.git
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version: main
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rbs_gripper:
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type: git
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url: https://github.com/solid-sinusoid/rbs-gripper.git
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version: main
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behavior_tree:
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type: git
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url: https://github.com/solid-sinusoid/behavior_tree.git
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version: master
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@ -15,7 +15,3 @@ repositories:
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type: git
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url: https://gitlab.com/robossembler/arm-tools/urdf-model-shrunk-gripper-egp-40-n-n-b.git
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version: 2-add-ros2-control
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gz_ros2_control:
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type: git
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url: https://github.com/solid-sinusoid/gz_ros2_control.git
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version: ft-sensor-broadcaster
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