jqphu / studio45_hackathon

Studio 45 Hackathon!

Getting Started

Everything will be based off Ubuntu 22.04.

ROS2

1. Install ROS2 Iron
2. Add: source /opt/ros/iron/setup.bash to your .bashrc file
3. Check you can run ros2

MoveIt

1. Install Eclipse Cyclone DDS
2. Add export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp to .bashrc
3. Check you can run ros2 in a new terminal
4. Install MoveIt2

General Dependencies

We use moveit visulization tools.

sudo apt install ros-iron-moveit-visual-tools

XARM Dependencies

We've cloned xarm libraries as a submodule: https://github.com/xArm-Developer/xarm_ros2/tree/rolling

We need to install the dependencies. Make sure your submodules are updated first and you're on the rolling branch.

1. cd dev_ws/src
2. rosdep update
3. rosdep install --from-paths . --ignore-src --rosdistro iron -y

Check you can build.

1. cd dev_ws
2. colcon build

Optional: Add source <input path to repo>/dev_ws/install/setup.bash to .bashrc. If you don't add this, remember to source it everytime you need to use ros.

Setting Up The Arm

TODO: Need to configure network settings and connect to the local network of the arm. This step is not needed if you're simulating.

Running

Make sure everything is sourced (ros, and the installation)

1. cd dev_ws
2. colcon build

IMPORTANT: Gripper doesn't quite work right now for some reason. It just crashed the node.

# 【simulated Lite6】launch xarm_planner_node
ros2 launch xarm_planner lite6_planner_fake.launch.py [add_gripper:=true]
# 【real Lite6】launch xarm_planner_node
ros2 launch xarm_planner lite6_planner_realmove.launch.py robot_ip:=192.168.1.185 [add_gripper:=true]

This above command runs the ros2/moveit nodes for us to interact with the arm. Keep this running in a terminal.

4. Run a test (note if you ran realmove, the arm will move. Be careful!)

ros2 launch planner planner.launch.py dof:=6 robot_type:=lite

If you see the arm move, or the simulation move. You have set this up correctly!

Developing

There's a basic planner package that you can investigate. Be sure to source all the required dependencies.

1. cd dev_ws
2. colcon build --packages-up-to planner

Build the planner package and all of its dependencies

3. ros2 launch planner planner.launch.py dof:=6 robot_type:=lite