|
1 | | -# Package Summary |
2 | | - |
3 | | -*Research only* packages cannot be used for commercial use. |
4 | | - |
5 | | -| Package | License | Description | |
6 | | -|--------------------------|---------|--------------------------------------------------------------------------------------------------------------------------| |
7 | | -| `sas_core` | LGPL | The part of the library that does not depend on `ROS2`. | |
8 | | -| `sas_common` | LGPL | Generic `ROS2` code used throughout the packages. | |
9 | | -| `sas_msgs` | LGPL | A wrapper for `ROS` messages that were made redundant in `ROS2`. | |
10 | | -| `sas_conversions` | LGPL | Convert `ROS2` messages into `float`, `int`, or `dqrobotics` elements. | |
11 | | -| `sas_robot_driver` | LGPL | `ROS2` nodes and libraries for creating servers and clients for robot configuration-space monitoring and control. | |
12 | | -| `sas_robot_kinematics` | LGPL | `ROS2` nodes and libraries for creating servers and clients for kinematic-level robot task-space monitoring and control. | |
13 | | -| `sas_robot_driver_denso` | LGPL | A `sas_robot_driver` implementation for DensoWave's bCap controlled robots | |
14 | | -| `sas_robot_driver_kuka` | LGPL | A `sas_robot_driver` implementation for Kuka (Sunrise cabinet, FRI) | |
15 | | -| `sas_robot_driver_ur` | LGPL | A `sas_robot_driver` implementation for UR | |
16 | | - |
17 | | - |
18 | | -# Prerequisites |
19 | | -1. [ROS 2 Jazzy](https://docs.ros.org/en/jazzy/Installation/Alternatives/Ubuntu-Development-Setup.html) |
20 | | -2. DQ Robotics CPP ([Development branch](https://dqroboticsgithubio.readthedocs.io/en/latest/installation/cpp.html#development-ppa)) |
21 | | -```commandline |
22 | | -sudo add-apt-repository ppa:dqrobotics-dev/development |
23 | | -sudo apt-get update |
24 | | -sudo apt-get install libdqrobotics libdqrobotics-interface-json11 libdqrobotics-interface-coppeliasim libdqrobotics-interface-coppeliasim-zmq |
25 | | -``` |
26 | | -3. DQ Robotics Python ([pre-release](https://dqroboticsgithubio.readthedocs.io/en/latest/installation/python.html#installation-development)) |
27 | | -```commandline |
28 | | -python3 -m pip install dqrobotics --pre |
29 | | -``` |
30 | | - |
31 | | -_**It is important to update the Python version to `4.7.0-2` if the interface is going to be used in Python.**_ |
32 | | - |
33 | | -# Do once |
34 | | - |
35 | | -On the ROS2 workspace, e.g. `~/ros2_ws/src` |
36 | | - |
37 | | -```commandline |
38 | | -mkdir -p ~/ros2_ws/src |
39 | | -cd ~/ros2_ws/src |
40 | | -git clone git@github.com:SmartArmStack/smart_arm_stack_ROS2.git sas --recursive |
41 | | -``` |
42 | | - |
43 | | -then |
44 | | - |
45 | | -```commandline |
46 | | -echo "source ~/ros2_ws/install/setup.bash" >> ~/.bashrc |
47 | | -``` |
48 | | - |
49 | | -# Every build |
50 | | - |
51 | | -```commandline |
52 | | -cd ~/ros2_ws/src |
53 | | -colcon build |
54 | | -source install/setup.bash |
55 | | -``` |
56 | | - |
57 | | -# Opening a package on QTCreator |
58 | | - |
59 | | -1. First, be sure that the environment has been compiled and sourced as shown in the last step. |
60 | | - |
61 | | -2. In that same terminal, open QTCreator, e.g. by running |
62 | | -```commandline |
63 | | -qtcreator |
64 | | -``` |
65 | | - |
66 | | -3. Open a new project and find the `CMakeLists.txt` of each package, e.g. `sas_core/CMakeLists.txt`. |
67 | | -- `File` > `Open File or Project...` > Choose `sas/sas_core/CMakeLists.txt` |
68 | | - |
69 | | -The default suggested configuration will work, but might generate issues with `colcon` because of where the build folder is made. It is better to import the build from `build/PACKAGE_NAME` so that QTCreator uses the same build space. |
70 | | -- Deselect `Desktop` by unchecking the checkbox. |
71 | | -- `Import build from...` > `Details` > `Browse...` > `~/ros2ws/src/build/sas_core` > `Open` > `Import` |
72 | | - |
73 | | -At this stage, the import is succesfull if the option `Build` shows up already checked. |
74 | | - |
75 | | -- Lastly, click `Configure Project`. |
76 | | - |
77 | | -4. If the initial configuration is messed up, just delete the `CMakeLists.txt.user` inside each wrongly configured package. Note the trailing `.user`. |
78 | | - |
| 1 | +# SmartArmStack for ROS2 |
79 | 2 |
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| 3 | +Up-to-date information available at: https://smartarmstack.github.io |
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