README.en.md

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sciurus17_ros

ROS 2 package suite of Sciurus17.

Table of Contents

• sciurus17_ros
  • Table of Contents
  • Supported ROS 2 distributions
    • ROS 1
  • Requirements
  • Installation
    • Build from source
    • Device setup
  • Quick Start
  • Packages
  • License

Supported ROS 2 distributions

• Humble
• Jazzy

ROS 1

• Melodic
• Noetic

Requirements

• Sciurus17
  • Product page
  • Web Shop
• Linux OS
  • Ubuntu 24.04
• ROS
  • Jazzy Jalisco

Installation

Build from source

# Download packages
mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
git clone -b $ROS_DISTRO https://github.com/rt-net/sciurus17_ros.git
git clone -b $ROS_DISTRO https://github.com/rt-net/sciurus17_description.git

# Install dependencies
rosdep install -r -y -i --from-paths .

# Build & Install
cd ~/ros2_ws
colcon build --symlink-install
source ~/ros2_ws/install/setup.bash

Device setup

Apply udev rules with the following commands to enable communication between sciurus17_control and Sciurus17.

ros2 run sciurus17_tools create_udev_rules

Reboot the PC after running the script to update the udev rules. After rebooting, the new device /dev/sciurus17spine will be created.

Quick Start

# Connect Sciurus17 to PC, then
source ~/ros2_ws/install/setup.bash
ros2 launch sciurus17_examples demo.launch.py

# Terminal 2
source ~/ros2_ws/install/setup.bash
ros2 launch sciurus17_examples example.launch.py example:='gripper_control'

# Press [Ctrl-c] to terminate.

Please refer to ./sciurus17_examples/README.md.

Packages

• sciurus17_control
  • README
  • This package includes a hardware driver for Sciurus17.
• sciurus17_examples
  • README
  • This package includes example codes for Sciurus17.
• sciurus17_gazebo
  • This package includes Gazebo simulation environments for Sciurus17.
• sciurus17_moveit_config
  • This package includes configuration files for moveit2.
• sciurus17_tools
  • This package includes option tools for Sciurus17.
• sciurus17_vision
  • This package includes launch files for camera nodes.
  • chest_camera_info.yaml is the chest camera calibration parameter.
• sciurus17_description (external package)
  • README
  • This package includes a model data (xacro) of Sciurus17.

License

(C) 2018 RT Corporation <support@rt-net.jp>

This repository is licensed under the Apache License, Version 2.0, see LICENSE.
Unless attributed otherwise, everything in this repository is under the Apache License, Version 2.0.

The sciurus17_ros depends on sciurus17_description package. The RT Corporation's NON-COMMERCIAL LICENSE applies to the package.