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Drake ROS Examples

This is a collection of examples built around drake_ros libraries' C++ and Python APIs.

Building

This package has been built and tested on Ubuntu Focal with ROS Rolling, using a Drake nightly or any stable releases after 14 Jan 2022. It may work on other versions of ROS and Drake, but it hasn't been tested.

To build it:

  1. Install ROS Rolling

  2. Source your ROS installation . /opt/ros/rolling/setup.bash

  3. Download Drake binary, nightly or any stable releases after 14 Jan 2022.

  4. Extract the Drake binary installation, install it's prerequisites, and use this Python virutalenv trick.

  5. Activate the drake virtual environment.

  6. Build it using Colcon.

    Colcon

    1. Make a workspace mkdir -p ./ws/src
    2. cd ./ws/src
    3. Get this code git clone https://github.com/RobotLocomotion/drake-ros.git
    4. cd ..
    5. Build this package colcon build --packages-up-to drake_ros_examples

Running

Source your workspace.

. ./ws/install/setup.bash
# Also make sure to activate drake virtual environment

Now you can run C++ and Python examples using ros2 run drake_ros_examples <example-executable-or-script>.

List of examples

  • RS flip flop: a latch with a ROS 2 topic interface.
  • IIWA manipulator: an RViz visualization of a static IIWA arm.
  • Multiple robots: an RViz visualization of an array of Kuka LBR iiwa manipulators.
  • UFO: an RViz visualization of a flying object controlled with the Drake systems framework and commandedusing RViz.