onrobot_ros2

OnRobot ROS2 packages

• ROS Humble Hawksbill node examples for OnRobot screw driver.

Dependency (tested as a host machine)

• Ubuntu 22.04 PC
  • Docker 26.1.1
  • Docker Compose 2.27.0

Installation

git clone [email protected]:takuya-ki/onrobot_ros2.git --recursive --depth 1 && cd onrobot_ros2 && COMPOSE_DOCKER_CLI_BUILD=1 DOCKER_BUILDKIT=1 docker compose build --no-cache --parallel 

Usage

1. Connect the cable between Compute Box and Tool Changer
2. Connect an ethernet cable between Compute Box and your computer
3. Build and run the docker environment
   • Create and start docker containers in the initially opened terminal

     docker compose up

   • Execute the container in another terminal

     xhost + && docker exec -it onrobot_humble_container bash

4. Build program files with the revised yaml

   cd /ros2_ws && colcon build --symlink-install --parallel-workers 1 && source install/setup.bash

5. Run a planning process in the container
   • Use byobu to easily command several commands

     byobu

     • First command & F2 to create a new window & Second command ...
     • Ctrl + F6 to close the selected window

Display the robot's (visual and collision) models

ros2 launch onrobot_sd_description display.launch.py

Run the server receiving motion commands in the real-world

ros2 launch onrobot_sd_tutorials server.launch.py
ros2 service call /onrobot_sd/move_shank onrobot_interfaces/srv/SetCommand "{command: '0.2'}"
ros2 service call /onrobot_sd/move_shank onrobot_interfaces/srv/SetCommand "{command: '0.5'}"

Contributors

We always welcome collaborators!

Author / Contributor

Takuya Kiyokawa