From 9141cf992e288069e35a60d75ef433f17d089bc1 Mon Sep 17 00:00:00 2001 From: SimonR99 Date: Wed, 6 Nov 2024 21:09:38 -0500 Subject: [PATCH] separate rove_hw from rove to streamline local install --- README.md | 23 +++++++++++------- rove.repos | 30 +----------------------- rove_hw.repos | 25 ++++++++++++++++++++ src/rove_bringup/launch/common.launch.py | 4 ++-- src/rove_bringup/package.xml | 4 ++-- src/rove_description/package.xml | 5 +++- src/rove_navigation/package.xml | 2 +- src/rove_zed/package.xml | 2 +- 8 files changed, 51 insertions(+), 44 deletions(-) create mode 100644 rove_hw.repos diff --git a/README.md b/README.md index febccd5..c6b37c9 100644 --- a/README.md +++ b/README.md @@ -41,31 +41,38 @@ To install ROS2 and vcs natively: https://docs.ros.org/en/humble/Installation/Ub Note: At the step `sudo apt install ros-humble-desktop` do `sudo apt install ros-humble-desktop-full` instead. ```bash -git clone https://github.com/gazebosim/ros_gz.git -b humble # Install gazebo locally git clone https://github.com/clubcapra/rove.git vcs import src < rove.repos +sudo rosdep init +rosdep update +rosdep install --from-paths src --ignore-src -r -y colcon build --symlink-install source install/setup.bash ``` +If you intend to control the robot you might need to add the hardware package to the build (If you aren't sure, you probably don't need it): + +```bash +vcs import src < rove_hw.repos +rosdep install --from-paths src --ignore-src -r -y +colcon build --symlink-install +source install/setup.bash +``` + + ## Running Rove in simulation IF YOU ARE RUNNING IN WSL: do this command ```bash export LIBGL_ALWAYS_INDIRECT=0 export LIBGL_ALWAYS_SOFTWARE=1 ``` -Do these commands to run the gazebo simulation with physics enabled + +Do these commands to run the gazebo simulation with physics enabled : ```bash colcon build --symlink-install source install/setup.bash ros2 launch rove_bringup sim.launch.py ``` -OR Do these commands to only run the rviz simulation (with joints control) -```bash -colcon build --symlink-install -source install/setup.bash -ros2 launch rove_description launch.py -``` ## Running the controller with a usb cable diff --git a/rove.repos b/rove.repos index a8a8d83..3919312 100644 --- a/rove.repos +++ b/rove.repos @@ -6,32 +6,4 @@ repositories: ovis_ros2: type: git url: https://github.com/clubcapra/ovis_ros2 - version: new-env-with-arm - ros_odrive: - type: git - url: https://github.com/IliTheButterfly/ros_odrive.git - version: 0fa84d3745a8c385076d29b7f54971e9f2d14de7 - vectornav: - type: git - url: https://github.com/dawonn/vectornav.git - version: ros2 - zed_wrapper: - type: git - url: https://github.com/stereolabs/zed-ros2-wrapper.git - version: master - zed_wrapper/zed-ros2-interfaces: - type: git - url: https://github.com/stereolabs/zed-ros2-interfaces.git - version: main - ros2_robotiq_gripper: - type: git - url: https://github.com/PickNikRobotics/ros2_robotiq_gripper.git - version: main - serial: - type: git - url: https://github.com/tylerjw/serial.git - version: ros2 - ros2_control: - type: git - url: https://github.com/ros-controls/ros2_control.git - version: humble + version: new-env-with-arm \ No newline at end of file diff --git a/rove_hw.repos b/rove_hw.repos new file mode 100644 index 0000000..5d53e32 --- /dev/null +++ b/rove_hw.repos @@ -0,0 +1,25 @@ +repositories: + ros_odrive: + type: git + url: https://github.com/IliTheButterfly/ros_odrive.git + version: 0fa84d3745a8c385076d29b7f54971e9f2d14de7 + vectornav: + type: git + url: https://github.com/dawonn/vectornav.git + version: ros2 + zed_wrapper: + type: git + url: https://github.com/stereolabs/zed-ros2-wrapper.git + version: master + zed_wrapper/zed-ros2-interfaces: + type: git + url: https://github.com/stereolabs/zed-ros2-interfaces.git + version: main + ros2_robotiq_gripper: + type: git + url: https://github.com/PickNikRobotics/ros2_robotiq_gripper.git + version: main + serial: + type: git + url: https://github.com/tylerjw/serial.git + version: ros2 diff --git a/src/rove_bringup/launch/common.launch.py b/src/rove_bringup/launch/common.launch.py index 4cb5818..500fe90 100644 --- a/src/rove_bringup/launch/common.launch.py +++ b/src/rove_bringup/launch/common.launch.py @@ -113,7 +113,7 @@ def generate_launch_description(): # robot_localization_node_global, #navsat_transform, twist_mux, - #rviz, + rviz, teleop, - #autonomy, + autonomy, ]) diff --git a/src/rove_bringup/package.xml b/src/rove_bringup/package.xml index 6a11eab..148782a 100644 --- a/src/rove_bringup/package.xml +++ b/src/rove_bringup/package.xml @@ -6,7 +6,7 @@ The rove_bringup package Capra GPLv3 - + joy teleop_twist_joy twist_mux @@ -28,4 +28,4 @@ ament_cmake - + \ No newline at end of file diff --git a/src/rove_description/package.xml b/src/rove_description/package.xml index 596b190..fd6191c 100644 --- a/src/rove_description/package.xml +++ b/src/rove_description/package.xml @@ -7,10 +7,13 @@ Capra MIT + ros2_control + rviz2 xacro velodyne_description rviz_imu_plugin + ros2_control ament_cmake @@ -20,4 +23,4 @@ ament_cmake - + \ No newline at end of file diff --git a/src/rove_navigation/package.xml b/src/rove_navigation/package.xml index 8d5752f..6e79167 100644 --- a/src/rove_navigation/package.xml +++ b/src/rove_navigation/package.xml @@ -18,4 +18,4 @@ ament_python - + \ No newline at end of file diff --git a/src/rove_zed/package.xml b/src/rove_zed/package.xml index 0cc0d4c..de360cc 100644 --- a/src/rove_zed/package.xml +++ b/src/rove_zed/package.xml @@ -30,4 +30,4 @@ ament_python - + \ No newline at end of file