Platform | CI Status |
---|---|
Ubuntu | |
Lint (Clang-Format) | |
Lint (Clang Tidy) |
Distro | Support |
---|---|
ROS Foxy | ✓ |
ROS Humble | ✓ |
tesseract_ros_examples
This package contains ROS examples using tesseract and tesseract_ros for motion planning and collision checking.
tesseract_rosutils
This package contains the utilities like converting from ROS message types to native Tesseract types and the reverse.
tesseract_msgs
This package contains the ROS message types used by Tesseract ROS.
tesseract_rviz
This package contains the ROS visualization plugins for Rviz to visualize Tesseract. All of the features have been composed in libraries to enable to the ability to create custom displays quickly.
tesseract_monitoring
This package contains different types of environment monitors. It currently contains a contact monitor and environment monitor. The contact monitor will monitor the active environment state and publish contact information. This is useful if the robot is being controlled outside of ROS, but you want to make sure it does not collide with objects in the environment. The second is the environment monitor, which is the main environment which facilitates requests to add, remove, disable and enable collision objects, while publishing its current state to keep other ROS nodes updated with the latest environment.
tesseract_planning_server
This package contains a planning server supporting asynchronous execution of multiple planning requests.
Create a colcon
workspace and clone this repository into its src
directory
Add the dependencies
cd <colcon_ws>
vcs import < src/tesseract_ros2/dependencies.repos
rosdep install --from-paths src -iry
Build
colcon build --symlink-install --cmake-args -DTESSERACT_BUILD_FCL=OFF -DBUILD_RENDERING=OFF -DBUILD_STUDIO=OFF