PC : Ubuntu 22.04

ROS : Humble

Specifications : RTX 2060 Super, 32GB RAM

We will try this repo : https://github.com/reazon-research/OpenArm

We assume that you already install ROS2 humble

And we will use Gazebo in this page.

1. Install ros-dev-tools

   sudo apt install ros-dev-tools
   

2. Install moveit2 package

   sudo apt install -y ros-humble-moveit
   

3. Source the ROS2 install and create a colcon workspace

   source /opt/ros/humble/setup.bash
   mkdir -p ~/ws_openarm/src
   

4. Clone the openarm_ros2 repository into the workspace:

   cd ~/ws_openarm/src
   git clone <https://github.com/reazon-research/openarm_ros2.git>
   

5. Install dependencies with rosdep

   sudo apt install python3-rosdep
   sudo rosdep init
   rosdep update
   sudo apt update
   sudo apt dist-upgrade
   rosdep install --from-paths ~/ws_openarm/src -y -r --ignore-src
   

6. Build the packages

   sudo apt install python3-colcon-common-extensions
   cd ~/ws_openarm
   colcon build
   

7. Open a new terminal, then source the setup.bash file in each workspace before launching the demo

   source ~/ws_moveit/install/setup.bash
   source ~/ws_openarm/install/setup.bash
   ros2 launch openarm_moveit_config demo.launch.py
   

Trouble Shooting

• -- stderr: moveit_planners_ompl

https://github.com/moveit/moveit2_tutorials/issues/537

If Rviz2 or gazebo does not work, add this to the ~/.bashrc: