youfork repository

youfork repository

youfork repository

Repository Summary

Checkout URI https://github.com/youtalk/youfork.git
VCS Type git
VCS Version master
Last Updated 2020-07-03
Dev Status UNMAINTAINED
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
youfork_bringup 0.0.0
youfork_description 0.0.0
youfork_teleop 0.0.0

README

youfork: Fully ROS 2 Homemade Mobile Manipulator

CircleCI

youfork is a mobile manipulator for home tidy-up. The movie below shows a little first try of the home tidy-up by teleoperation.

youfork: Fully ROS 2 Homemade Mobile Manipulator

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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