I'm sorry, the documentation with sphinx is only in Japanese.
sudo pip3 install sphinx sphinx-rtd-theme
make html
The outline of the environment construction is described below.
Please refer to the following URL and install ROS2 Foxy and tools.
- https://docs.ros.org/en/foxy/Installation/Ubuntu-Install-Debians.html
- https://docs.ros.org/en/foxy/Tutorials/Colcon-Tutorial.html
- https://docs.ros.org/en/foxy/How-To-Guides/Building-a-Custom-Debian-Package.html
Download the source code from github by entering the following command:
mkdir ~/hsr_project
cd ~/hsr_project
git clone -b foxy https://github.com/hsr-project/gazebo_ros2_control.git
git clone -b foxy https://github.com/hsr-project/hsrb_description.git
git clone -b foxy https://github.com/hsr-project/hsrb_meshes.git
git clone -b foxy https://github.com/hsr-project/hsrb_controllers.git
git clone -b foxy https://github.com/hsr-project/hsrb_gazebo_bringup.git
git clone -b foxy https://github.com/hsr-project/tmc_gazebo_plugins.git
git clone -b foxy https://github.com/hsr-project/tmc_control_msgs.git
Create a workspace by entering the following command:
mkdir ~/hsr_ros2_ws
cd ~/hsr_ros2_ws
ln -s ~/hsr_project/gazebo_ros2_control/gazebo_ros2_control
ln -s ~/hsr_project/hsrb_description
ln -s ~/hsr_project/hsrb_meshes
ln -s ~/hsr_project/hsrb_controllers/hsrb_base_controllers
ln -s ~/hsr_project/hsrb_gazebo_bringup
ln -s ~/hsr_project/tmc_gazebo_plugins
ln -s ~/hsr_project/tmc_control_msgs
Build the workspace by entering the following command:
source /opt/ros/foxy/setup.bash
rosdep install --from-paths . -y --ignore-src
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
source install/setup.bash
First, bring up gazebo by entering the following command:
ros2 launch hsrb_gazebo_bringup gazebo_bringup.launch.py
Next, open a new ternimal and spawn hsr by entering the following command:
Case: HSR-B
cd ~/hsr_ros2_ws
source install/setup.bash
ros2 launch hsrb_gazebo_bringup spawn_hsrb.launch.py
Case: HSR-C
cd ~/hsr_ros2_ws
source install/setup.bash
ros2 launch hsrb_gazebo_bringup spawn_hsrc.launch.py
Please refer to the following URL and install ROS2 Foxy and tools in HSR.
- https://docs.ros.org/en/foxy/Installation/Ubuntu-Install-Debians.html
- https://docs.ros.org/en/foxy/Tutorials/Colcon-Tutorial.html
- https://docs.ros.org/en/foxy/How-To-Guides/Building-a-Custom-Debian-Package.html
In HSR, download the source code from github by entering the following command:
mkdir ~/hsr_ros2_ws
cd ~/hsr_ros2_ws
git clone -b ros2 https://github.com/mikeferguson/openni2_camera.git
git clone -b foxy https://github.com/hsr-project/exxx_control_table.git
git clone -b foxy https://github.com/hsr-project/hsrb_bringup.git
git clone -b foxy https://github.com/hsr-project/hsrb_controllers.git
git clone -b foxy https://github.com/hsr-project/hsrb_description.git
git clone -b foxy https://github.com/hsr-project/hsrb_drivers.git
git clone -b foxy https://github.com/hsr-project/hsrb_meshes.git
git clone -b foxy https://github.com/hsr-project/hsrb_robot_hardware.git
git clone -b foxy https://github.com/hsr-project/tmc_control_msgs.git
Build the workspace by entering the following command:
source /opt/ros/foxy/setup.bash
rosdep install --from-paths . -y --ignore-src
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
source install/setup.bash
First, stop ROS1 auto-start:
sudo systemctl stop docker.hsrb.roscore.service
Next, bring up HSR by entering the following command:
Case: HSR-B
ros2 launch hsrb_bringup hsrb.launch.py
Case: HSR-C
ros2 launch hsrb_bringup hsrc.launch.py
Please refer to the following URL and install Pinocchio.
Download the source code from github by entering the following command:
mkdir ~/hsr_project
cd ~/hsr_project
git clone -b foxy https://github.com/hsr-project/hsrb_description.git
git clone -b foxy https://github.com/hsr-project/hsrb_meshes.git
git clone -b foxy https://github.com/hsr-project/hsrb_kinematics.git
git clone -b foxy https://github.com/hsr-project/hsrb_moveit_config.git
git clone -b foxy https://github.com/hsr-project/hsrb_moveit_plugins.git
Create a workspace by entering the following command:
mkdir ~/hsr_moveit_ws
cd ~/hsr_moveit_ws
ln -s ~/hsr_project/hsrb_description
ln -s ~/hsr_project/hsrb_meshes
ln -s ~/hsr_project/hsrb_kinematics
ln -s ~/hsr_project/hsrb_moveit_config
ln -s ~/hsr_project/hsrb_moveit_plugins
Build the workspace by entering the following command:
source /opt/ros/foxy/setup.bash
export CMAKE_PREFIX_PATH=/opt/openrobots:$CMAKE_PREFIX_PATH
rosdep install --from-paths . -y --ignore-src
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
source install/setup.bash
Enter the following command with the actual robot or simulator running:
ros2 launch hsrb_moveit_config hsrb_demo.launch.py
Note
For HSR-C, use hsrc_demo.launch.py instaed of hsrb_demo.launch.py
There are examples of Move Group C++ Interface.
cd ~/hsr_moveit_ws
source install/setup.bash
ros2 launch hsrb_moveit_config hsrb_example.launch.py example_name:=moveit_fk_demo
There are RosNav config for HSR.