coen132/arctos

ROS2 package for the Arctos arm

Arctos

This is a ROS2 package for the Arctos arm. make sure ROS2 and MoveIt2 are installed, along with their dev tools.

Installation

Install dependency controller packages

sudo apt install ros-humble-controller* sudo apt-get install ros-humble-can-msgs pip install catkin_pkg

Make sure everything is up to date

sudo apt update
sudo apt upgrade

Make a directory and clone the source code

mkdir -p arctos/src
cd arctos/src
git clone https://github.com/coen132/arctos.git

Build the workspace

cd ~/arctos
colcon build --symlink-install

This should run without any errors, otherwise make sure the dependencies are installed and sourced correctly.

Sourcing the package in your bash script

After installation make sure to automatically source the package in your bash script, otherwise you need to do it everytime you run the package Copy and paste the following at the bottom of the bash file: "source ~/arctos/install/local_setup.bash"

sudo nano ~/.bashrc

Launching the simulation

To test out and make sure everything is correctly installed you can launch the demo simulation
cd ~/arctos
source install/local_setup.bash
ros2 launch arctos_moveit_config demo.launch.py

This should launch RVIZ and load the Arctos robot arm.

arctos's Issues

With given instruction I am getting can-msgs errors. The following seems to make it work

# apostrophies needed for ZSH
sudo apt install 'ros-humble-controller*'
pip install catkin_pkg
sudo apt-get install ros-humble-can-msgs

source /opt/ros/humble/setup.zsh
colcon build --symlink-install