ros2_roboy3_models

This package is based on robots/roboy_upper_body and it is the ROS2 update of this package. It contains the cardsflow upper body robot. It was created during the ROS2 update of the kindyn package.

Usage

This package is used together with

• iyntree
• qpOASES
• ros2_common_utilities
• ros2_control_kindyn
• ros2_roboy3_models
• ros2_roboy_communication

Installation

clone these 6 packages inside a clean ros2_workspace.

    cd my/ros2_ws/src/
    rm -r log install build 
    git clone [email protected]:robotology/idyntree.git
    git clone [email protected]:robotology-dependencies/qpOASES.git
    git clone [email protected]:Roboy/ros2_common_utilities.git
    git clone [email protected]:CARDSflow/ros2_kindyn.git
    git clone [email protected]:Roboy/ros2_roboy3_models.git
    git clone --branch ros2_roboy3 [email protected]:Roboy/roboy_communication.git    

Build

After these 6 packages are cloned into the ros2_workspace change line 9 inside idyntree/src/core/include/iDynTree/EigenHelpers.h #include <Eigen/Dense> to #include <eigen3/Eigen/Dense> and build these packages in the following order:

    cd my/ros2_ws/
    source /opt/ros/humble/setup.zsh
    colcon build --packages-select ros2_roboy_communication
    source install/setup.zsh
    colcon build --packages-select ros2_common_utilities
    source install/setup.zsh
    colcon build --packages-select iDynTree qpOASES ros2_roboy3_models
    source install/setup.zsh
    colcon build --packages-select ros2_control_kindyn
    source install/setup.zsh

Run

    cd my/ros2_ws/
    source /opt/ros/humble/setup.zsh
    source install/setup.zsh
    ros2 launch ros2_control_kindyn robody.launch.py
    ros2 launch ros2_control_kindyn send_cmd.launch.py