Summit XL-GEN (LunaLab)

Software packages for Summit XL-GEN with Kinova Gen2 arm. This repository enables researchers to conduct experiments in simulations and on a real robot inside the LunaLab facility at the University of Luxembourg.

Overview

This branch targets ROS 2 galactic and Gazebo fortress.

Below is an overview of the included packages, with a short description of their purpose. For more information, please see README.md of each individual package.

lunalab_summit_xl_gen – Metapackage
lunalab_summit_xl_gen_description – URDF and SDF description of the robot
lunalab_summit_xl_gen_ign – Additional Gazebo-specific configuration of the robot
lunalab_summit_xl_gen_moveit_config – MoveIt 2 configuration for the robotic manipulator

Instructions

Dependencies

These are the primary dependencies required to use this project.

ROS 2 Galactic
Gazebo Fortress

All additional dependencies are either pulled via vcstool (lunalab_summit_xl_gen.repos) or installed via rosdep during the building process below.

Building

Clone this repository, import dependencies, install dependencies and build with colcon.

# Clone this repository into your favourite ROS 2 workspace
git clone https://github.com/snt-spacer/lunalab_summit_xl_gen.git
# Import dependencies
vcs import < lunalab_summit_xl_gen/lunalab_summit_xl_gen.repos
# Install dependencies
IGNITION_VERSION=fortress rosdep install -y -r -i --rosdistro ${ROS_DISTRO} --from-paths .
# Build
colcon build --merge-install --symlink-install --cmake-args "-DCMAKE_BUILD_TYPE=Release"

Sourcing

Before utilising this package, remember to source the ROS 2 workspace.

source install/local_setup.bash

This enables:

Execution of binaries, scripts and examples via ros2 run lunalab_summit_xl_gen_* <executable>
Launching of setup scripts via ros2 launch lunalab_summit_xl_gen_* <launch_script>
Discoverability of shared resources