Support files for the ros2_control workshop at ROSCon 2023 in New Orleans, Louisiana, USA.
Create a new workspace for ROS 2 rolling and clone this repository.
Then add all the dependencies from source using vcs
command:
<enter your workspace's src folder>
vcs import --input roscon2023_control_workshop/roscon2023_control_workshop.ci.repos .
Then compile your workspace. In this case is is recommended to use --symlink-install
flag for faster testing of changes.
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Try starting part of the Hercules with two URe5 arms and grippers:
ros2 launch hercules_description dual_ur_sim_control.launch.py
And execute example movements in another terminal using:
ros2 launch hercules_description test_dual_ur_controllers.launch.py
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Start the full Hercules setup and test movements executing the following command in separate terminals:
ros2 launch hercules_description hercules_sim_control.launch.py
ros2 launch hercules_description test_hercules_controllers.launch.py