Package interbotix_xsarm_puppet not found

[kandeng]

Following interbotix youtube tutorial, "X-Series Arms | Working With Multiple Arms", at 11:06， I executed the following command,

$ ros2 launch interbotix_xsarm_puppet xsarm_puppet.launch robot_model_master:=wx200 robot_model_puppet:=wx200 

It complained that "Package interbotix_xsarm_puppet not found".

I checked the package list, indeed, the "interbotix_xsarm_puppet" was not in the pkg list.

Notice that 'interbotix_xsarm_dual' is in the pkg list, because I have updated interbotix source code, following the answer to "interbotix_xsarm_dual pkg missing",

Many thanks for lukeschmitt-tr's great help, and in a short time. @lukeschmitt-tr

$ source /home/robot/interbotix_ws/install/setup.bash
$ ros2 pkg list | grep interbotix
interbotix_common_modules
interbotix_common_sim
interbotix_common_toolbox
interbotix_moveit_interface
interbotix_moveit_interface_msgs
interbotix_perception_modules
interbotix_perception_msgs
interbotix_perception_pipelines
interbotix_perception_toolbox
interbotix_ros_xsarms
interbotix_ros_xsarms_examples
interbotix_ros_xseries
interbotix_tf_tools
interbotix_xs_driver
interbotix_xs_modules
interbotix_xs_msgs
interbotix_xs_ros_control
interbotix_xs_rviz
interbotix_xs_sdk
interbotix_xs_toolbox
interbotix_xsarm_control
interbotix_xsarm_descriptions
interbotix_xsarm_dual
interbotix_xsarm_joy
interbotix_xsarm_moveit
interbotix_xsarm_moveit_interface
interbotix_xsarm_perception
interbotix_xsarm_ros_control
interbotix_xsarm_sim

My question is, does the package "interbotix_xsarm_puppet" need to be updated, for ROS2/Humble running on ubuntu 22.04 ?

Many thanks!

[lukeschmitt-tr]

The xsarm puppet package has been ported to ROS 2 with Interbotix/interbotix_ros_manipulators#171. Usage has changed slightly between the two versions (i.e. master -> leader, puppet -> follower), but you can review the PR and launch files to see the differences. Documentation will be updated in the future.

[kandeng]

It works now!!

Step 1. Download the updated source codes from humble branch, and replace the previous code.

Step 2. Run this command,
$ ros2 launch interbotix_xsarm_puppet xsarm_puppet.launch.py robot_model_leader:=wx200 robot_model_follower:=wx200 use_sim:=true

A lot of thanks!! @lukeschmitt-tr

[kandeng]

Step 1, humble branch source code,

https://github.com/Interbotix/interbotix_ros_manipulators/tree/humble/interbotix_ros_xsarms/examples/interbotix_xsarm_puppet