ROBERTO ROS2 workspace

ROs Based tEndon dRiven sofT rObot

Photo of ROBERTO	ROBERTO in RVIZ

Requirements

• Some sort of Linux machine
• Podman

Note

This container contains submodules! Make sure to clone properly

git clone --recurse-submodules <this-repo-url>

Usage

Run the container

The script rosws will build the container automatically and launch a shell inside the container. If run a second time it will attach to the running container.

To launch the container:

./rosws

Basic usage

The container provides a couple of aliases to make life easier.

To display the robot you can run the following:

rosbuild  # alias for `colcon build --symlink-install`
rossetup  # alias for `source ./install/local_setup.bash`

# launches rviz, rsp & co.
ros2 launch roberto_description display.launch.py

# in a second container terminal
ros2 run softrobot_demo cos_joint_broadcaster

ROS2 Control usage

Note

The interface to the roberto hardware is currently being reworked

To use a forward command controller run the following commands:

ros2 launch roberto_hardware_interface forward_controller.launch.py

# in a second terminal
ros2 run softrobot_demo forward_controller_demo

To use the softjoint_trajectory_controller:

ros2 launch roberto_hardware_interface softjtc.launch.py

# in a second terminal
ros2 run softrobot_demo softjtc_demo