This package is based on robots/roboy_upper_body and it is the ROS2 update of this package. It contains the cardsflow upper body robot. It was created during the ROS2 update of the kindyn package.
This package is used together with
- iyntree
- qpOASES
- ros2_common_utilities
- ros2_control_kindyn
- ros2_roboy3_models
- ros2_roboy_communication
clone these 6 packages inside a clean ros2_workspace.
cd my/ros2_ws/src/
rm -r log install build
git clone [email protected]:robotology/idyntree.git
git clone [email protected]:robotology-dependencies/qpOASES.git
git clone [email protected]:Roboy/ros2_common_utilities.git
git clone [email protected]:CARDSflow/ros2_kindyn.git
git clone [email protected]:Roboy/ros2_roboy3_models.git
git clone --branch ros2_roboy3 [email protected]:Roboy/roboy_communication.git
After these 6 packages are cloned into the ros2_workspace
change line 9 inside idyntree/src/core/include/iDynTree/EigenHelpers.h #include <Eigen/Dense>
to #include <eigen3/Eigen/Dense>
and build these packages in the following order:
cd my/ros2_ws/
source /opt/ros/humble/setup.zsh
colcon build --packages-select ros2_roboy_communication
source install/setup.zsh
colcon build --packages-select ros2_common_utilities
source install/setup.zsh
colcon build --packages-select iDynTree qpOASES ros2_roboy3_models
source install/setup.zsh
colcon build --packages-select ros2_control_kindyn
source install/setup.zsh
cd my/ros2_ws/
source /opt/ros/humble/setup.zsh
source install/setup.zsh
ros2 launch ros2_control_kindyn robody.launch.py
ros2 launch ros2_control_kindyn send_cmd.launch.py