This repository contains multiple ROS2 packages that can be used to interact with a robot (enviroment) in ROS2. Specifically, the packages have been designed to be used for precision assembly tasks. The repository contains the following packages:
object_spawner_manager: This package can be used to spawn objects (parts for assembly) in the ROS environment and to interact with them. A more detailed description can be found in the package.readme.spawn_object_interfaces: Contains the message and service definitions used by the object_spawner_manager.pm_moveit_server: This package can be used to interact with the move_groups (see Moveit2 doc for more information) that are launched from the pm_robot_bringup package (see match_pm_robot repository). The pm_moveit_server provides multiple services to control the pm_robot using the inverse kinematics. A more detailed description can be found in the package.readme.pm_moveit_interfaces: Contains the message and service definitions used by the pm_moveit_server.
To run all the packages in this repository, the installation of ROS2 (tested on Humble) is mandatory! Before you attempt the installation for this repository, the full installation of the "match_pm_robot" repository is recommended.
- Make sure you have the following packages installed (only mandatory to run the pm_moveit_server)!
sudo apt install ros-humble-moveit
sudo apt install ros-humble-moveit-visual-tools
sudo apt install ros-humble-graph-msgs
- Open a terminal and change directory to your workspace source!
- Clone the repository
git clone https://github.com/match-PM/ros2_pm_robot_control.git
- Change to your workspace folder. Build your workspace:
colcon build