roscon2023_control_workshop

Support files for the ros2_control workshop at ROSCon 2023 in New Orleans, Louisiana, USA.

Installation

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.

Workshop Tasks and Examples

x.Complex Hardware - Hercules

1. 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
   

2. 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