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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.


ROS2 packed and produced by Neuromeka communicate with IndyFramework through IndyDCP3. The ROS2 packages for Indy have been tested with the ROS2 Humble and ROS2 Jazzy. For more information about the ROS2 version, see the ROS2 releases.

Install ROS and Neuromeka package

Install Neuromeka package

Neuromeka package is required and can be downloaded from the Neuromeka official Github repository, or intall using following command:

pip3 install neuromeka

Installation guide for ROS2 Humble on Ubuntu 22

Follow ROS2 Humble Installation to install ROS2 Humble version on your PC.

  • Install dependencies 

    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 

    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 

    sudo apt install ros-humble-rmw-cyclonedds-cpp

  • Setup enviroment 

    echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc && source ~/.bashrc
echo "export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp" >> ~/.bashrc && source ~/.bashrc

  • Create a ROS workspace 

    mkdir -p ~/colcon_ws/src

  • Download and compile Indy packages 

    cd ~/colcon_ws/src &&
git clone --branch humble-indyDCP3 https://github.com/neuromeka-robotics/indy-ros2.git


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

Installation guide for ROS2 Jazzy on Ubuntu 24

Follow this URL to install ROS2 Jazzy version on your PC ROS2 Jazzy Installation.

  • Install dependencies 

    sudo apt install python3-rosdep
sudo rosdep init
rosdep update
sudo apt update

  • Install ROS2 packages 

    sudo apt install -y ros-jazzy-xacro \
    ros-jazzy-moveit \
    ros-jazzy-moveit-servo \
    ros-jazzy-moveit-visual-tools \
    ros-jazzy-moveit-resources \
    ros-jazzy-moveit-ros-move-group \
    ros-jazzy-moveit-planners-ompl \
    ros-jazzy-moveit-kinematics \
    ros-jazzy-moveit-ros-perception \
    ros-jazzy-ros2-control \
    ros-jazzy-ros2-controllers \
    ros-jazzy-controller-manager \
    ros-jazzy-joint-state-broadcaster \
    ros-jazzy-joint-state-publisher-gui \
    ros-jazzy-joint-trajectory-controller \
    ros-jazzy-rviz-visual-tools \
    ros-jazzy-geometric-shapes \
    ros-jazzy-gz-ros2-control \
    ros-jazzy-ros-gz

  • Switch to Cyclone DDS 

    sudo apt install ros-jazzy-rmw-cyclonedds-cpp

  • Setup enviroment 

    echo "source /opt/ros/jazzy/setup.bash" >> ~/.bashrc && source ~/.bashrc
echo "export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp" >> ~/.bashrc && source ~/.bashrc

  • Create a ROS workspace 

    mkdir -p ~/colcon_ws/src

  • Download and compile Indy packages 

    cd ~/colcon_ws/src &&
git clone --branch jazzy-indyDCP3 https://github.com/neuromeka-robotics/indy-ros2.git


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

Indy Package List

├── indy-ros2
    ├── indy_description
    ├── indy_driver
    ├── indy_gazebo
    ├── indy_moveit
    └──  ...
  • indy_description : Includes Indy model (Indy7, Indy7_V2, IndyRP2, IndyRP2_V2, Indy12 and Indy12_V2)
  • indy_driver : Create communication between ROS2 and Indy
  • indy_gazebo : Gazebo simulation for Indy.
  • indy_moveit : Moveit configuration for Indy

Configuration of ROS2 manual