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Install ROS2

Please refer to the following link to install ROS2:

Additionally, install the necessary tools:

sudo apt update
sudo apt install -y python3-colcon-common-extensions python3-rosdep
sudo rosdep init
rosdep update

Create Workspace

Create a workspace and retrieve the necessary packages:

mkdir -p ~/hsr_ros2_ws/src && cd ~/hsr_ros2_ws/src
git clone -b humble https://github.com/hsr-project/hsrb_description.git
git clone -b humble https://github.com/hsr-project/hsrb_manipulation.git
git clone -b humble https://github.com/hsr-project/hsrb_meshes.git
git clone -b humble https://github.com/hsr-project/hsrb_moveit_config.git
git clone -b humble https://github.com/hsr-project/hsrb_moveit_plugins.git
git clone -b humble https://github.com/hsr-project/tmc_common.git
git clone -b humble https://github.com/hsr-project/tmc_common_msgs.git
git clone -b humble https://github.com/hsr-project/tmc_manipulation.git
git clone -b humble https://github.com/hsr-project/tmc_manipulation_base.git
git clone -b humble https://github.com/hsr-project/tmc_manipulation_planner.git

Build the workspace:

cd ~/hsr_ros2_ws/
source /opt/ros/humble/setup.bash
rosdep install --from-paths . -y --ignore-src
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
source install/setup.bash

Launch Examples

After starting the simulator or other required tools, execute demo.launch.py. Use the appropriate launch file for the robot. The following is an example for HSR-B:

ros2 launch hsrb_moveit_config hsrb_demo.launch.py

Operation via GUI

Send commands from the Rviz MotionPlanning plugin.

Using MoveGroup from C++

You can run the sample program with the following command:

ros2 launch hsrb_moveit_config hsrb_example.launch.py example_name:=moveit_fk_demo

The available sample programs are as follows:

  • moveit_fk_demo
  • moveit_ik_demo
  • moveit_gripper_demo
  • moveit_constraints_demo