Package that enables end effector velocity commands for Piper arm for ROS2 Foxy

Important!

There is a known issue where the joint_state_broadcaster publishes joint states in a random order: ros-controls/ros2_controllers#159. Unofrtunately, the fix does not work for Foxy. Instead, make sure to launch a custom joint states publisher.

Basic Usage

Suggested: Use velocity control with Jacobians and pseudoinverse

1. ros2 launch ee_velocity_controller jacobian_ee_control.launch.py Note that there are a multiude of paramters you can pass in, inlcuding support for position control (such as what's used with MoveIt). Run ros2 launch ee_velocity_controller jacobian_ee_control.launch.py --show-arguments to see them.
2. In a separate terminal, ros2 run ee_velocity_controller keyboard_relmove --ros-args -p scale_by:=0.1 (where the scale by parameter is used to increase or decrease speed) (Note that rotation of the gripper, i.e., dtheta, is not supported yet.)

Alternate: Use MoveIt Servo

1. ros2 launch ee_velocity_controller servo_ee_control.launch.py. Wait until MoveIt servo is done loading.
2. In a separate terminal, ros2 run ee_velocity_controller keyboard_relmove --ros-args -p scale_by:=0.1 (where the scale by parameter is used to increase or decrease speed)

Process for downloading moveit for foxy

1. create new directory
2. git clone https://github.com/moveit/moveit2.git -b $ROS_DISTRO
3. code moveit2/moveit2.repos --> change to the following: repositories: moveit_resources: type: git url: https://github.com/moveit/moveit_resources.git version: ros2
4. for repo in moveit2/moveit2.repos $(f="moveit2/moveit2_$ROS_DISTRO.repos"; test -r $f && echo $f); do vcs import < "$repo"; done
5. rosdep install -r --from-paths . --ignore-src --rosdistro $ROS_DISTRO -y
6. sudo apt install ros-$ROS_DISTRO-control-toolbox
   ros-$ROS_DISTRO-moveit-resources-panda-moveit-config
   ros-$ROS_DISTRO-moveit-resources-panda-description
   ros-$ROS_DISTRO-moveit-resources-fanuc-moveit-config
   ros-$ROS_DISTRO-moveit-resources-fanuc-description
   ros-$ROS_DISTRO-ros-testing
   ros-$ROS_DISTRO-eigen-stl-containers
   ros-$ROS_DISTRO-geometric-shapes
   ros-$ROS-DISTRO-launch-param-builder
7. colcon build --event-handlers desktop_notification- status- --cmake-args -DCMAKE_BUILD_TYPE=Release
8. source install/setup.bash
9. add install path to ~/.bashrc