61 lines
1.7 KiB
Markdown
61 lines
1.7 KiB
Markdown
# Robossembler ROS2
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Repo for ROS2 packages related to Robossembler
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## Instructions
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### Requirements
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* OS: Ubuntu 22.04
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* ROS 2 Humble
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* nlohman/json
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### Dependencies
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These are the primary dependencies required to use this project.
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* MoveIt 2
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> Install/build a version based on the selected ROS 2 release
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* Gazebo Fortress
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* [nlohman/json](https://github.com/nlohmann/json/releases/tag/v3.11.3)
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### Build
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1. Clone the repository
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2. Build packages `colcon build`
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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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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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### 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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```
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### Examples
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Activate current ROS2 enviroment:
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```
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. install/setup.bash
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```
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Launch MoveIt2, Gazebo, RViz:
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```bash
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ros2 launch rbs_bringup bringup.launch.py
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```
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Start BT node in another terminal
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```
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ros2 launch rbs_bt_executor rbs_executor.launch.py
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```
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### Links
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* [bt_v3_cpp](https://www.behaviortree.dev)
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* [moveit2](https://moveit.picknik.ai/humble/index.html)
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