Overview

Everything you need to controll the fully 3D-printed robotic arm "Jonny" using ros2 and moveit.

• Installation
  • ROS2
  • rosdep
  • Dependencies
  • Build
• Usage
  • Initialization (once after reboot)
    • Sourcing the workspace
    • Attaching the can bus to linux
  • Launch (every time you want to start the programm)
    • Launch real robot with gui controll
    • Launch real robot with command controll

Installation

Follow these instructions to use this repository.

ROS2

To work with this repository, you need a working install of ros2 jazzy. Install it locally by following the instructions here: https://docs.ros.org/en/jazzy/Installation.html

rosdep

To automatically install all necessary dependencies, this projects uses rosdep (https://docs.ros.org/en/humble/Tutorials/Intermediate/Rosdep.html). Install Rosdep using these commands:

sudo apt install python3-rosdep

sudo rosdep init
rosdep update

Dependencies

Now, clone this repository:

git clone https://github.com/alexmnr/jonny_ros2.git

Use rosdep to install all dependencies automatically:

cd jonny_ros2/ros && rosdep install --from-paths src -y --ignore-src

Build

To finish the install, all packages provided have to be build.

IMPORTANT: This is also necessary after updating the repository or making any changes to the code.

The build command has to be run in the <path to repository>/ros folder.

cd jonny_ros2/ros

Build Command:

colcon build

Usage

Ok, let's do it.

Initialization (once after reboot)

Sourcing the workspace

Before all the packages are ready to be used, you have to tell ros where to find them. To do that, I added a simply script to the repository.

source ./activate.sh

Attaching the can bus to linux

First, attach the can bus adapter using the usb-c cable.

Then run :

sudo slcan_attach -f -s6 -o /dev/ttyACM0 && sudo slcand -o -s6 /dev/ttyACM0 can0 && sudo ip link set can0 up

Launch (every time you want to start the programm)

There are multiple options available in this repository:

Launch real robot with gui controll

ros2 launch jonny_moveit_config real_robot.launch.py

Launch real robot with command controll

TODO: add this