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aubo_robot_ros2 repositoryaubo_ros2_common aubo_ros2_demo aubo_ros2_description aubo_ros2_driver aubo_ros2_jazzy_moveit_config aubo_ros2_trajectory_action |
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Repository Summary
| Description | aubo robot ros2 driver |
| Checkout URI | https://github.com/xieshaosong/aubo_robot_ros2.git |
| VCS Type | git |
| VCS Version | jazzy-arcs |
| Last Updated | 2024-11-26 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| aubo_ros2_common | 1.0.0 |
| aubo_ros2_demo | 1.0.0 |
| aubo_ros2_description | 1.0.0 |
| aubo_ros2_driver | 1.0.0 |
| aubo_ros2_jazzy_moveit_config | 0.3.0 |
| aubo_ros2_trajectory_action | 1.0.0 |
README
Aubo Robot ROS2
Compatibility
| Supported OS | Supported ROS2 distribution |
|---|---|
| Ubuntu 24.04 | Jazzy |
| AUBO ARCS Teachpendant Version | AUBO ARCS Hardware Version | AUBO ARCS SDK Version |
|---|---|---|
| 0.29.3-rc.6+2a9b2c1 | 1.0.43-rc.5+f2bfa19 | V0.23.1 |
Getting Started
This project was developed for ROS2 Jazzy on Ubuntu 24.04. Other versions of Ubuntu and ROS2 may work, but not supported.
-
Install ROS2 Jazzy
-
Install
colconand additional ROS packages:
sudo apt install -y \
python3-colcon-common-extensions \
python3-rosdep2 \
libeigen3-dev \
ros-jazzy-xacro \
ros-jazzy-moveit* \
ros-jazzy-joint-state-publisher \
ros-jazzy-joint-state-publisher-gui \
ros-jazzy-robot-state-publisher \
ros-jazzy-rviz2
- Setup workspace:
mkdir -p ~/aubo_ros2_ws/src
cd ~/aubo_ros2_ws/src
git clone -b jazzy-arcs https://github.com/XieShaosong/aubo_robot_ros2.git
cd aubo_robot_ros2/
- Install dependencies:
cd ~/aubo_ros2_ws
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro jazzy -r -y
- Build and source the workspace:
cd ~/aubo_ros2_ws
source /opt/ros/jazzy/setup.bash
colcon build --symlink-install
source install/setup.bash
NOTE: Remember to source the setup file and the workspace whenever a new terminal is opened:
source /opt/ros/jazzy/setup.bash
source ~/aubo_ros2_ws/install/setup.bash
Usage
Using MoveIt
You can also run the MoveIt example and use the MotionPlanning plugin in RViZ to start planning:
ros2 launch aubo_ros2_jazzy_moveit_config aubo_moveit.launch.py robot_ip:=[robot ip]
ros2 topic pub --once /aubo_robot/robot_control std_msgs/msg/String 'data: powerOn'
Test sim:
ros2 launch aubo_ros2_jazzy_moveit_config aubo_moveit_sim.launch.py
CONTRIBUTING
No CONTRIBUTING.md found.
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