ROS2与Interbotix云台快速入门教程-软件安装

文章说明

• 本教程主要介绍如何安装ROS2环境的Interbotix云台对应的软件包
• 测试环境：Ubuntu 22.04 + ROS Humble

操作步骤

• 下载和编译对应的软件包

$ mkdir -p ~/ros2_interbotix_ws/src
$ cd ~/ros2_interbotix_ws/src
$ git clone -b humble https://github.com/Interbotix/interbotix_ros_turrets.git
$ git clone -b humble https://github.com/Interbotix/interbotix_ros_core.git
$ git clone -b humble https://github.com/Interbotix/interbotix_ros_manipulators.git
$ git clone -b ros2 https://github.com/Interbotix/dynamixel-workbench.git 
$ git clone https://github.com/Interbotix/interbotix_xs_driver.git
$ git clone -b humble https://gitee.com/ncnynl/interbotix_ros_toolboxes
$ rm interbotix_ros_toolboxes/interbotix_perception_toolbox/COLCON_IGNORE
$ rm interbotix_ros_core/interbotix_ros_xseries/COLCON_IGNORE
$ cd ~/ros2_interbotix_ws
$ rosdep install --from-paths src --ignore-src -r -y
$ colcon build
$ echo "source ~/ros2_interbotix_ws/install/local_setup.bash" >> ~/.bashrc

• 添加对应的规则

$ sudo cp ~/ros2_interbotix_ws/src/interbotix_ros_core/interbotix_ros_xseries/interbotix_xs_sdk/99-interbotix-udev.rules /etc/udev/rules.d/ 
$ sudo udevadm control --reload-rules && sudo udevadm trigger