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Install ROS2

以下を参考に，ROS2をインストールしてください．

また，必要なツールをインストールしてください．

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

Create Workspace for Simulation

ワークスペースを作成し，必要なパッケージを取得します．

mkdir -p ~/hsr_ros2_ws/src && cd ~/hsr_ros2_ws/src
git clone -b humble https://github.com/hsr-project/gazebo_ros2_control.git
git clone -b humble https://github.com/hsr-project/hsrb_controllers.git
git clone -b humble https://github.com/hsr-project/hsrb_description.git
git clone -b humble https://github.com/hsr-project/hsrb_drivers.git
git clone -b humble https://github.com/hsr-project/hsrb_launch.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_rosnav.git
git clone -b humble https://github.com/hsr-project/hsrb_simulator.git
git clone -b humble https://github.com/hsr-project/hsrb_teleop.git
git clone -b humble https://github.com/hsr-project/tmc_gazebo.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_database.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
git clone -b humble https://github.com/hsr-project/tmc_realtime_control.git
git clone -b humble https://github.com/hsr-project/tmc_voice.git
rm -rf hsrb_launch/hsrb_robot_launch

ビルドします．

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

Gazebo Simulation

Gazeboシミュレータを起動します． 以下は起動launchの例で，使うロボット，ワールドに応じて適切なlaunchファイルを利用してください．

ros2 launch hsrb_gazebo_launch hsrb_apartment_no_objects_world.launch.py

Rviz Simulation

センサ系のシミュレーションはありません．簡単な動作確認には利用可能です．

Case: HSR-B

ros2 launch hsrb_rviz_simulator hsrb_rviz_simulator.launch.py

Case: HSR-C

ros2 launch hsrb_rviz_simulator hsrc_rviz_simulator.launch.py