Wiki source code of 11 - 4 DoF ROS2 Support
Last modified by Eric Nantel on 2023/11/01 10:58
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| 1 | [[image:moveit_4dof.png||width="700"]] |
| 2 | |
| 3 | **Table of Contents** |
| 4 | |
| 5 | {{toc/}} |
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| 7 | (% style="width:700px" %) |
| 8 | |(% colspan="2" %)((( |
| 9 | = Description = |
| 10 | |
| 11 | LSS-ROS2-Arms is an entirely open-source ROS package that allows to control a physical or simulated SES V2 Arm (4DoF or 5DoF version). |
| 12 | |
| 13 | GitHub: [[LSS-ROS2-Arms>>https://github.com/Lynxmotion/LSS-ROS2-Arms/]] |
| 14 | |
| 15 | A physical robot is not needed to experiment with the simulation examples in [[Ignition Gazebo>>url:https://gazebosim.org/api/gazebo/2.10/index.html]]. However, as the LSS Arm does not carry an onboard computer a PC, Single Board Computer or Virtual Machine is required to run Ubuntu 20.04 (Focal Fossa) with [[ROS 2 Galactic>>url:https://docs.ros.org/en/galactic/index.html]]. Please note that a PC will offer significantly higher processing performance than an SBC or VM, so a laptop or desktop is recommended for running simulations. Nevertheless, if you only wish to control a physical robot either computer option will suffice. |
| 16 | ))) |
| 17 | |(% colspan="2" %)((( |
| 18 | = Instructions = |
| 19 | |
| 20 | Follow the [[README.md>>https://github.com/Lynxmotion/LSS-ROS2-Arms/blob/master/README.md]] file for a complete guide on how to use the examples. |
| 21 | ))) |
| 22 | |(% style="text-align:center" %)LSS 4 DoF Arm|(% style="text-align:center" %)LSS 5 DoF Arm |
| 23 | |[[image:rviz_view_4dof.png]]|(% style="text-align:center" %)[[image:rviz_view_5dof.png]] |
| 24 | |(% colspan="2" %)[[image:description_5dof.gif||alt="ign_obstacle_5dof.gif"]] |