58 lines
No EOL
1.2 KiB
Markdown
58 lines
No EOL
1.2 KiB
Markdown
# Robossembler ROS2
|
|
|
|
Repo for ROS2 packages related to Robossembler
|
|
|
|
## Instructions
|
|
### Requirements
|
|
* OS: Ubuntu 22.04
|
|
* ROS 2 Humble
|
|
|
|
### Dependencies
|
|
These are the primary dependencies required to use this project.
|
|
|
|
* MoveIt 2
|
|
> Install/build a version based on the selected ROS 2 release
|
|
* Gazebo Fortress
|
|
|
|
### Build
|
|
|
|
1. Clone the repository
|
|
2. Build packages `colcon build`
|
|
|
|
|
|
Prepare workspace & install dependencies (So far only tested with UR robot arm)
|
|
```
|
|
mkdir -p ~/robossembler_ws/src && cd ~/robossembler_ws/src
|
|
git clone https://gitlab.com/robosphere/robossembler-ros2
|
|
vcs import . < robossembler-ros2/rbs.repos
|
|
cd ..
|
|
rosdep install -y -r -q --from-paths src --ignore-src --rosdistro humble
|
|
colcon build
|
|
```
|
|
|
|
### Examples
|
|
Add source to environment
|
|
```
|
|
. install/setup.bash
|
|
```
|
|
|
|
Launch MoveIt2, Gazebo, RViz
|
|
```bash
|
|
ros2 launch rbs_simulation rbs_simulation.launch.py
|
|
```
|
|
#### Launch bt_tree
|
|
|
|
It will execute `bt_tree` once from file `rbs_bt_executor/bt_trees/test_tree.xml`
|
|
|
|
```
|
|
ros2 launch rbs_executor rbs_executor.launch.py
|
|
```
|
|
|
|
The robot arm should move to the point from config file in path
|
|
```
|
|
rbs_bt_executor/config/points.yaml
|
|
```
|
|
|
|
### Links
|
|
* [bt_v3_cpp](https://www.behaviortree.dev)
|
|
* [moveit2](https://moveit.picknik.ai/humble/index.html) |