-
vcs import
sudo apt-get install python3-vcstool
-
abb_librws dependencies
- POCO C++ Libraries (>= 1.4.3 due to WebSocket support)
- Navigate to home dir.
Should be built from source.
sudo apt-get -y update && sudo apt-get -y install git g++ make cmake libssl-dev git clone -b master https://github.com/pocoproject/poco.git cd poco mkdir cmake-build cd cmake-build sudo cmake .. sudo cmake --build . --target install
- Navigate to home dir.
Should be built from source.
- POCO C++ Libraries (>= 1.4.3 due to WebSocket support)
-
abb_libegm dependencies
- Boost
sudo apt-get install libboost-all-dev
- Protobuf
- Should be built from source.
sudo apt-get install autoconf automake libtool curl make g++ unzip git clone https://github.com/protocolbuffers/protobuf.git cd protobuf ./configure sudo make sudo make install sudo ldconfig # refresh shared library cache.
- Should be built from source.
- Boost
-
Install pose_estimation dependencies. Guide in repo https://github.com/yumi-crew/pose_estimation
-
Install zivid-ros dependencies. Guide in repo https://github.com/yumi-crew/zivid-ros.git
-
Moveit 2 dependencies
- yaml-cpp
sudo apt-get install libyaml-cpp-dev
- yaml-cpp
Installs ROS 2 packages used to control the ABB YuMi and the Zivid One 3D camera. External packages are contained in the organization.
-
Clone repos
mkdir -p /home/$USER/abb_ws/src && cd /home/$USER/abb_ws/src git clone https://github.com/yumi-crew/yumi.git vcs import /home/$USER/abb_ws/src < /home/$USER/abb_ws/src/yumi/yumi.repos vcs import /home/$USER/abb_ws/src < /home/$USER/abb_ws/src/moveit2/moveit2.repos rosdep install -r --from-paths . --ignore-src --rosdistro eloquent -y
-
Build
cd /home/$USER/abb_ws/ # To build moveit2 colcon build --event-handlers desktop_notification- status- --cmake-args -DCMAKE_BUILD_TYPE=Release # Normal build, just in case;) colcon build --symlink-install source install/local_setup.bash
When building, the KDL library will complain about not finding "Eigen/Core" etc. This is due to the library expecting an older version of Eigen. This can be fixed by adding "eigen3" in the include statements, ex: "#include <eigen3/Eigen/Core". (need sudo privileges)
Launch architecture
ros2 launch yumi_launch yumi_moveit2_zivid.launch.py
Sim:
ros2 launch yumi_launch yumi_moveit2_zivid_sim.launch.py
Run bin pick demo
ros2 launch yumi_test demo.launch.py