ros2_kindyn

This package is the ROS2 update of the kindyn package. It contains the core c++ implementation for controlling cable robots.

Usage

This package is used together with

• iyntree
• qpOASES
• ros2_common_utilities
• ros2_control_kindyn
• ros2_roboy3_models
• ros2_roboy_communication

Installation

clone these 6 packages inside a clean ros2_workspace.

    cd my/ros2_ws/src/
    rm -r log install build 
    git clone [email protected]:robotology/idyntree.git
    git clone [email protected]:robotology-dependencies/qpOASES.git
    git clone [email protected]:Roboy/ros2_common_utilities.git
    git clone [email protected]:CARDSflow/ros2_kindyn.git
    git clone [email protected]:Roboy/ros2_roboy3_models.git
    git clone --branch ros2_roboy3 [email protected]:Roboy/roboy_communication.git    

Build

After these 6 packages are cloned into the ros2_workspace change line 9 inside idyntree/src/core/include/iDynTree/EigenHelpers.h #include <Eigen/Dense> to #include <eigen3/Eigen/Dense> and build these packages in the following order:

    cd my/ros2_ws/
    source /opt/ros/humble/setup.zsh
    colcon build --packages-select ros2_roboy_communication
    source install/setup.zsh
    colcon build --packages-select ros2_common_utilities
    source install/setup.zsh
    colcon build --packages-select iDynTree qpOASES ros2_roboy3_models
    source install/setup.zsh
    colcon build --packages-select ros2_control_kindyn
    source install/setup.zsh

Run

    cd my/ros2_ws/
    source /opt/ros/humble/setup.zsh
    source install/setup.zsh
    ros2 launch ros2_control_kindyn robody.launch.py
    ros2 launch ros2_control_kindyn send_cmd.launch.py