ROS 2 package suite of manta_v2.
- Manta V2
- Linux OS
- Ubuntu 20.04 Laptop/Desktop PC
- ROS
- Foxy Fitzroy
The following commands download a package from a remote repository and install it in your colcon workspace.
mkdir -p ~/manta_ws/src
cd ~/manta_ws/src
git clone https://github.com/tasada038/manta_v2.git
cd ~/manta_ws && colcon build --symlink-install
If you have not installed the 'ros-foxy-joy-linux' package, run the following command to install the ros-foxy-joy-linux package.
sudo apt install ros-foxy-joy-linux
sudo apt install ros-foxy-joy-linux-dbgsym
In the first shell, run the joy_linux_node.
ros2 run joy_linux joy_linux_node
In the second shell, run the bringup launch file.
ros2 launch manta_v2_bringup manta_bringup.launch.py
In the third shell, run the controller launch file.
ros2 launch manta_v2_controller joint_states.launch.py
Next, connect the robot and PC with a tether cable and connect to Jetson Nano on the robot side by SSH.
ssh jetson@192.168.13.26
(* default IP of Jetson Nano is 192.168.13.26)
And, run the control launch file.
ros2 launch manta_v2_controller robot_control.launch.py
In addition, in the second shell on the robot side(Jetson Nano), run the servo node.
ros2 run manta_v2_controller servo_node
- manta_v2_description
This package contains model files (urdf, stl) for loading manta_v2 in ROS2 and Rviz2 environments.
- manta_v2_bringup
This package contains launch files for loading manta_v2 in ROS2 and Rviz2 environments.
- manta_v2_controller
This package controls manta_v2 swimming and walking.
- manta_v2_gazebo_ros2_control
This package simulates manta_v2 with Gazebo
- manta_v2_moveit_config
This package contains manta_v2 configuration files (yaml, srdf) to use MoveIt2 package in ROS2 environment.
- manta_v2_run_move_group
This package for moving manta_v2 using Move Group C++ Interface.
This repository is licensed under the Apache 2.0, see LICENSE for details.