- Ubuntu 20.04
- docker, docker-compose
[NOTE] This repository DOES NOT support NVIDIA graphic driver.
The BSL-Plotter parts are in the bsl-plotter/stl
directory. Please refer to URDF model for assembly.
(3D model for assembly will be uploaded soon!)
It is recommended to use a 3D printer to create the parts. The recommended printing conditions are as follows.
- Nozzle: 0.4mm
- Filament: ABS, PLA, PETG
- Support: enable
- Wall: 0.6~1.0mm
-
Clone this repository
git clone --recursive https://github.com/kim-xps12/bsl-plotter.git
-
Launch docker container
cd bsl-plotter/docker_ros docker-compose up -d
-
Execute a command in a running container
docker-compose exec mynoetic /bin/bash
-
Check GUI
xeyes
-
Check OpenGL
glxgears
-
Enjoy your robotics!
You need to operate inside a docker container (mynoetic).
-
Go workspace
cd catkin_ws
-
Build workspace and load settings
catkin build source devel/setup.bash
-
Launch rviz
roslaunch bsl_plotter_description display.launch
-
Launch IK solver
roslaunch plotter_controller solve_ik.launch
-
Run servo driver
rosrun plotter_controller feetech_driver.py