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youfork repositorycircleci cpp roomba ros2 robotis jetson-xavier ps4-controller rplidar-a1 youfork_bringup youfork_description youfork_teleop |
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Repository Summary
| Description | youfork: Fully ROS 2 Homemade Mobile Manipulator |
| Checkout URI | https://github.com/youtalk/youfork.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2020-07-03 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | circleci cpp roomba ros2 robotis jetson-xavier ps4-controller rplidar-a1 |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| youfork_bringup | 0.0.0 |
| youfork_description | 0.0.0 |
| youfork_teleop | 0.0.0 |
README
youfork: Fully ROS 2 Homemade Mobile Manipulator
youfork is a mobile manipulator for home tidy-up. The movie below shows a little first try of the home tidy-up by teleoperation.
Slides from ROS Japan UG #37 (in Japanese)
All components are driven by ROS 2 Eloquent and Ubuntu 18.04 on the Jetson Xavier.
youfork has a lot of devices inside:
- NVIDIA Jetson Xavier
- ROBOTIS Open Manipulator X
- iRobot Roomba 643
- Intel RealSense D435i
- SlamTec RPLidar A1M8
- 25,000mAh Battery
- PS4 controller for teleoperation
youfork packages is beeing checked to build on CircleCI with ROS 2 Eloquent and Foxy.
However the Jetson Xavier on youfork is currently running only on Ubuntu 18.04, so that I’ve checked to work youfork properly only on ROS 2 Eloquent and Ubuntu 18.04.
Install dependencies
Firstly install librealsense2 package because it cannot be installed by rosdep then check out repositories by vcs import and run rosdep install.
mkdir ~/youfork && cd ~/youfork
git clone git@github.com:youtalk/youfork.git src
sudo apt update
sudo apt install -y software-properties-common
sudo apt-key adv --keyserver keys.gnupg.net --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE
sudo add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo bionic main" -u
sudo apt update
sudo apt install --no-install-recommends python3-vcstool librealsense2-dev
source /opt/ros/$ROS_DISTRO/setup.bash
cd ~/youfork/src
vcs import < youfork.repos
cd ~/youfork
rosdep install --from-paths . --ignore-src -y
Build
cd ~/youfork
source /opt/ros/$ROS_DISTRO/setup.bash
colcon build
Launch nodes
Bring up devices
. ~/youfork/install/setup.bash
ros2 launch ros2 launch youfork_bringup bringup.launch.xml use_create:=true use_open_manipulator:=true use_rplidar:=true use_realsense:=true
Activate the Roomba lifecycle
source /opt/ros/$ROS_DISTRO/setup.bash
ros2 lifecycle set /ca_driver configure
ros2 lifecycle set /ca_driver activate
Visualize youfork by RViz2
. ~/youfork/install/setup.bash
rviz2 -d ~/youfork/src/youfork_description/config/youfork.rviz
Teleoperate by PS4 controller
Firstly install ds4drv and run the following command to connect with the wireless PS4 controller.
sudo ds4drv
Then launch the teleop related nodes.
. ~/youfork/install/setup.bash
ros2 launch youfork_teleop teleop.launch.xml
CONTRIBUTING
No CONTRIBUTING.md found.
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