robotics_v1
Extension of the original repo with the addition of urscript_picker.
URScript Picker
The package urscript_picker performs box movement from one place to another.
It is written in Python, and is tested with version 3.8.10. No additional Python packages need to be installed.
First, build the package with colcon:
colcon build --packages-select urscript_picker
In another terminal tab, source the setup:
. install/setup.bash
and then run the package:
ros2 run urscript_picker urscript_picker
The content below is unmodified from the original repo.
A mostly C++ ROS2 workspace
The workspace contains several interesting visual mini-games with their respective ROS2 interfaces
- Robo Collector - focused on learning ROS2 topics
- Robo Miner - focused on learning ROS2 services
- Robo Cleaner - focused on learning ROS2 actions
- UR Dev - focused on learning UR robotics movements through URScript
- UR Driver - forked repositories of Universal Robots Client Library and Universal Robots ROS2 driver
Git submodules This repository has it's dependencies configured as git submodules. To clone them, step inside the repository and run the following instructions
git submodule init
git submodule update
Ament CMake (Colcon) meta build system usage
colcon build #build all packages with default settings
colcon build --symlink-install #create symbolic links for python, urdf, xacro, yaml files instead of copies
colcon build --packages-up-to <package_name> #build package_name and all of it's dependencies
colcon build --packages-select <package_name> #build only package_name without it's dependencies (faster if you have the dependencies already built)
colcon build --event-handlers console_direct+ --event-handlers console_cohesion+ #show build and install process logs
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Debug -DCMAKE_CXX_COMPILER=/usr/bin/clang++ #provide any list of CMake args
#all of the colcon build command can be combined
#for full information check `colcon build --help
Automatic asset information generation The first time the project is build it will fail compilation, because you are missing some auto-generated headers. To resolve this follow the instructios:
# build the resource builder tool
colcon build --symlink-install --packages-up-to resource_builder --cmake-args -DCMAKE_BUILD_TYPE=Debug -DCMAKE_CXX_COMPILER=/usr/bin/clang++
# auto generate C++ headers and asset information for the GUI projects:
./install/resource_builder/lib/resource_builder/resource_builder src/robo_collector/robo_collector_gui
./install/resource_builder/lib/resource_builder/resource_builder src/robo_collector/robo_collector_controller
./install/resource_builder/lib/resource_builder/resource_builder src/robo_miner/robo_miner_gui
./install/resource_builder/lib/resource_builder/resource_builder src/robo_cleaner/robo_cleaner_gui
./install/resource_builder/lib/resource_builder/resource_builder src/ur_dev/ur_control_gui
# build the whole workspace
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Debug -DCMAKE_CXX_COMPILER=/usr/bin/clang++
Dependency hierarchy diagram
Previews
ur_control_gui + Rviz2 + UR ros driver 2
robo_collector_gui + robo_collector_controller
