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jessie_bringup

Package for starting components on Jessie

Prerequisites

  • This package uses ROS2, so this should be installed on the robot first.
  • The ROS2 interfaces for the xArm should also be set up on the robot. The components, along with instructions for setting them up, can be found at xarm_ros2.

Usage

The bringup is expected to run on the robot itself.

To use it, first, clone this repository into a ROS workspace:

cd /path/to/ws/src
git clone https://github.com/a2s-institute/jessie_bringup.git

Then, build the package and (re)source the workspace:

colcon build --packages-select jessie_bringup
source /path/to/ws/install/setup.bash

Finally, run the robot components:

ros2 launch jessie_bringup jessie.launch.py

Conventions

Robot left / right arm

In the bringup, we launch controllers for both arms on Jessie. For defining the left / right arm, we follow a robot-centric convention (i.e. left / right from the point of view of the robot):

  • The arm with IP 192.168.1.204 is considered to be the left arm
  • The arm with IP 192.168.1.209 is considered to be the right arm

Namespaces corresponding to the arms

The components corresponding to the different arms are under dedicated namespaces as follows:

  • For the left arm: /left_arm_xarm/[topic/service]
  • For the right arm: /right_arm_xarm/[topic/service]