ROS2与OpenManipulator-X入门教程#humble版#-PC设置

文章说明

• 介绍如何在PC上配置OpenManipulator机械臂的ROS2 Humble使用环境
• 安装Ubuntu 22.04和ROS2 Humble：参考链接
• 两种方式在PC上安装相应的软件包

相关设备

• 采购OpenManipulator-X机械臂

RCM快速安装

• 下载RCM，快速安装

$ rcm ros2_tb3 install_openmanipulator_x_humble_source

分步安装

• 安装相应依赖包

$ sudo apt install \
  ros-humble-dynamixel-sdk \
  ros-humble-ros2-control \
  ros-humble-moveit* \
  ros-humble-gazebo-ros2-control \
  ros-humble-ros2-controllers \
  ros-humble-controller-manager \
  ros-humble-position-controllers \
  ros-humble-joint-state-broadcaster \
  ros-humble-joint-trajectory-controller \
  ros-humble-gripper-controllers \
  ros-humble-hardware-interface \
  ros-humble-xacro

• 安装软件包

$ mkdir -p  ~/ros2_openmanipulatorx_ws/src
$ cd ~/ros2_openmanipulatorx_ws/src/
$ git clone -b humble https://github.com/ROBOTIS-GIT/open_manipulator.git
$ git clone -b humble https://github.com/ROBOTIS-GIT/dynamixel_hardware_interface.git
$ git clone -b humble https://github.com/ROBOTIS-GIT/dynamixel_interfaces.git
$ cd ~/ros2_openmanipulatorx_ws && colcon build --symlink-install

• 添加环境配置

$ echo 'source /usr/share/gazebo/setup.sh' >> ~/.bashrc
$ echo 'source ~/ros2_openmanipulatorx_ws/install/local_setup.bash' >> ~/.bashrc
$ source ~/.bashrc

参考资料

• 官方教程