Build document

I'm sorry, the documentation with sphinx is only in Japanese.

.. code-block:: bash

sudo pip3 install sphinx sphinx-rtd-theme make html

The outline of the environment construction is described below.

Gazebo simulation

Install ROS2 +++++++++++++++++++++

Please refer to the following URL and install ROS2 Foxy and tools.

• https://docs.ros.org/en/foxy/Installation/Ubuntu-Install-Debians.html
• https://docs.ros.org/en/foxy/Tutorials/Colcon-Tutorial.html
• https://docs.ros.org/en/foxy/How-To-Guides/Building-a-Custom-Debian-Package.html

Create and build the workspace +++++++++++++++++++++++++++++++++

Download the source code from github by entering the following command:

.. code-block:: bash

mkdir ~/hsr_project cd ~/hsr_project git clone -b foxy https://github.com/hsr-project/gazebo_ros2_control.git git clone -b foxy https://github.com/hsr-project/hsrb_description.git git clone -b foxy https://github.com/hsr-project/hsrb_meshes.git git clone -b foxy https://github.com/hsr-project/hsrb_controllers.git git clone -b foxy https://github.com/hsr-project/hsrb_gazebo_bringup.git git clone -b foxy https://github.com/hsr-project/tmc_gazebo_plugins.git git clone -b foxy https://github.com/hsr-project/tmc_control_msgs.git

Create a workspace by entering the following command:

.. code-block:: bash

mkdir ~/hsr_ros2_ws cd ~/hsr_ros2_ws ln -s ~/hsr_project/gazebo_ros2_control/gazebo_ros2_control ln -s ~/hsr_project/hsrb_description ln -s ~/hsr_project/hsrb_meshes ln -s ~/hsr_project/hsrb_controllers/hsrb_base_controllers ln -s ~/hsr_project/hsrb_gazebo_bringup ln -s ~/hsr_project/tmc_gazebo_plugins ln -s ~/hsr_project/tmc_control_msgs

Build the workspace by entering the following command:

.. code-block:: bash

source /opt/ros/foxy/setup.bash rosdep install --from-paths . -y --ignore-src colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release source install/setup.bash

Launch simulation +++++++++++++++++++++++++++++++++

First, bring up gazebo by entering the following command:

.. code-block:: bash

ros2 launch hsrb_gazebo_bringup gazebo_bringup.launch.py

Next, open a new ternimal and spawn hsr by entering the following command:

Case: HSR-B

.. code-block:: bash

cd ~/hsr_ros2_ws source install/setup.bash ros2 launch hsrb_gazebo_bringup spawn_hsrb.launch.py

Case: HSR-C

.. code-block:: bash

cd ~/hsr_ros2_ws source install/setup.bash ros2 launch hsrb_gazebo_bringup spawn_hsrc.launch.py

Actual Robot

Install ROS2 +++++++++++++++++++++

Please refer to the following URL and install ROS2 Foxy and tools in HSR.

• https://docs.ros.org/en/foxy/Installation/Ubuntu-Install-Debians.html
• https://docs.ros.org/en/foxy/Tutorials/Colcon-Tutorial.html
• https://docs.ros.org/en/foxy/How-To-Guides/Building-a-Custom-Debian-Package.html

Create and build the workspace +++++++++++++++++++++++++++++++++

In HSR, download the source code from github by entering the following command:

.. code-block:: bash

mkdir ~/hsr_ros2_ws cd ~/hsr_ros2_ws git clone -b ros2 https://github.com/mikeferguson/openni2_camera.git git clone -b foxy https://github.com/hsr-project/exxx_control_table.git git clone -b foxy https://github.com/hsr-project/hsrb_bringup.git git clone -b foxy https://github.com/hsr-project/hsrb_controllers.git git clone -b foxy https://github.com/hsr-project/hsrb_description.git git clone -b foxy https://github.com/hsr-project/hsrb_drivers.git git clone -b foxy https://github.com/hsr-project/hsrb_meshes.git git clone -b foxy https://github.com/hsr-project/hsrb_robot_hardware.git git clone -b foxy https://github.com/hsr-project/tmc_control_msgs.git

Build the workspace by entering the following command:

.. code-block:: bash

source /opt/ros/foxy/setup.bash rosdep install --from-paths . -y --ignore-src colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release source install/setup.bash

Bringup HSR +++++++++++++++++++++++++++++++++

First, stop ROS1 auto-start:

.. code-block:: bash

sudo systemctl stop docker.hsrb.roscore.service

Next, bring up HSR by entering the following command:

Case: HSR-B

.. code-block:: bash

ros2 launch hsrb_bringup hsrb.launch.py

Case: HSR-C

.. code-block:: bash

ros2 launch hsrb_bringup hsrc.launch.py

Moveit

Install Pinocchio +++++++++++++++++++++

Please refer to the following URL and install Pinocchio.

• https://stack-of-tasks.github.io/pinocchio/download.html

Create and build the workspace +++++++++++++++++++++++++++++++++

Download the source code from github by entering the following command:

.. code-block:: bash

mkdir ~/hsr_project cd ~/hsr_project git clone -b foxy https://github.com/hsr-project/hsrb_description.git git clone -b foxy https://github.com/hsr-project/hsrb_meshes.git git clone -b foxy https://github.com/hsr-project/hsrb_kinematics.git git clone -b foxy https://github.com/hsr-project/hsrb_moveit_config.git git clone -b foxy https://github.com/hsr-project/hsrb_moveit_plugins.git

Create a workspace by entering the following command:

.. code-block:: bash

mkdir ~/hsr_moveit_ws cd ~/hsr_moveit_ws ln -s ~/hsr_project/hsrb_description ln -s ~/hsr_project/hsrb_meshes ln -s ~/hsr_project/hsrb_kinematics ln -s ~/hsr_project/hsrb_moveit_config ln -s ~/hsr_project/hsrb_moveit_plugins

Build the workspace by entering the following command:

.. code-block:: bash

source /opt/ros/foxy/setup.bash export CMAKE_PREFIX_PATH=/opt/openrobots:$CMAKE_PREFIX_PATH rosdep install --from-paths . -y --ignore-src colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release source install/setup.bash

Launch Moveit +++++++++++++++++++++++++++++++++

Enter the following command with the actual robot or simulator running:

.. code-block:: bash

ros2 launch hsrb_moveit_config hsrb_demo.launch.py

.. note::

For HSR-C, use hsrc_demo.launch.py instaed of hsrb_demo.launch.py

There are examples of Move Group C++ Interface.

.. code-block:: bash

cd ~/hsr_moveit_ws source install/setup.bash ros2 launch hsrb_moveit_config hsrb_example.launch.py example_name:=moveit_fk_demo

RosNav

There are RosNav config for HSR.

https://github.com/hsr-project/hsrb_rosnav