Amber_B1_ROS2

Note this is not installed or ran on the Amber b1 computer.

This package contains configuration for Amber B1 that enables its manipulation with MoveIt 2.

Overview

Below is an overview of the included packages, with a small description of their purpose. For more information, please see README.md of each individual package.

• amber_b1_description – URDF description of the robot
• amber_arm_moveit_config – MoveIt 2 configuration for the robot

Instructions

Requirements

• OS: Ubuntu 20.04 (Focal)
  • Other distributions might work, but they were not tested.

Building

Clone this repository. Then install dependencies and build with colcon.

# Create workspace for the project (can be skippid)
mkdir -p amber_ws/src && cd amber_ws
# Clone this repository
git clone https://github.com/raess1/Amber_B1_ROS2.git
# Install external dependencies via rosdep
rosdep install -r --from-paths src --ignore-src --rosdistro ${ROS_DISTRO}
# Build with colcon
colcon build --merge-install --symlink-install --cmake-args "-DCMAKE_BUILD_TYPE=Release"

Sourcing

Before utilising this package, remember to source the ROS 2 workspace overlay.

source amber_ws/install/local_setup.bash

This enables:

• Execution of scripts and examples via ros2 run amber_* <executable>
• Launching of setup scripts via ros2 launch amber_* <launch_script>
• Discoverability of shared resources

WORKING: (WP)

• ros2 launch amber_b1_description view_robot_ex.launch.py
• ros2 launch amber_arm_moveit_config demo.launch.py

TODO:

• Get the URDF work correctly from ros2 launch amber_b1_description view_robot.launch.py
• Add Gripper to urdf.
• Add Gripper Ctrl.