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Introduction

Overview

ROS (Robot Operating System) is a software framework designed to enable the development of complex robotic systems. ROS2 builds on the success of the original Robot Operating System (ROS) by improving its modularity, scalability, and interoperability. It is designed to support multiple programming languages and platforms, and it is backed by a large and active community of developers and users.


Like the ROS1, ROS2 packed and produced by Neuromeka communicate with Indy Framework through IndyDCP. The ROS2 packages under development have been tested with the ROS2 Humble version suitable for Ubuntu 22.04. For more information about the ROS2 version, see the ROS2 releases.

Installation ROS and Indy packages

This installation guide is based on Ubuntu 22.04 (ROS2 Humble). Follow this URL to install ROS2 Humble version on your PC ROS2 Humble Installation. The files required to install the Indy package can be downloaded from the Neuromeka official github repository.

  • Install dependencies
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sudo apt install python3-rosdep
sudo apt install python3-rosdep2
sudo rosdep init
rosdep update
sudo apt update
sudo apt install rospack-tools
sudo apt install python3-colcon-common-extensions
sudo apt install python3-colcon-mixin
colcon mixin add default https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
colcon mixin update default
sudo apt install python3-vcstool
  • Install ROS2 packages
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sudo apt install -y ros-humble-xacro \
    ros-humble-moveit \
    ros-humble-moveit-servo \
    ros-humble-ros2-control \
    ros-humble-ros2-controllers \
    ros-humble-moveit-ros-move-group \
    ros-humble-moveit-planners-ompl \
    ros-humble-moveit-kinematics \
    ros-humble-gazebo-ros \
    ros-humble-gazebo-ros2-control \
    ros-humble-controller-manager \
    ros-humble-joint-state-broadcaster \
    ros-humble-joint-state-publisher-gui \
    ros-humble-joint-trajectory-controller \
    ros-humble-moveit-ros-perception \
    ros-humble-rviz-visual-tools \
    ros-humble-moveit-visual-tools \
    ros-humble-moveit-resources
  • Switch to Cyclone DDS
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sudo apt install ros-humble-rmw-cyclonedds-cpp
  • Setup enviroment
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echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc && source ~/.bashrc
echo "export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp" >> ~/.bashrc && source ~/.bashrc
  • Create a ROS workspace
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mkdir -p ~/colcon_ws/src
  • Download and compile Indy packages
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cd ~/colcon_ws/src && git clone https://github.com/neuromeka-robotics/indy-ros2

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cd ~/colcon_ws && colcon build
  • Load Indy workspace and set default
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echo "source $HOME/colcon_ws/install/setup.bash" >> ~/.bashrc && source ~/.bashrc

Indy Package List

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├── indy-ros2
    ├── indy_description
    ├── indy_driver
    ├── indy_gazebo
    ├── indy_moveit
    └──  ...

Indy description:

Includes Indy model (Indy7, Indy7_V2, IndyRP2, IndyRP2_V2, Indy12)

Indy driver:

Create communication between ROS2 and Indy

Indy gazebo:

Includes gazebo simulation for Indy.

Indy moveit:

Moveit configuration for Indy