AcutronicRobotics / mara_examples

Example ROS 2.0 packages for MARA

MARA Examples

Please make sure you have followed the steps in MARA repository to set up ROS2, HRIM and dependencies.

Build

Clone this repository in your ROS2 workspace.

cd ~/ros2_mara_ws/src && git clone https://github.com/AcutronicRobotics/mara_examples.git

Compile.

source /opt/ros/dashing/setup.bash
cd ~/ros2_mara_ws && colcon build --merge-install --packages-skip individual_trajectories_bridge

Run

Terminal 1

In order to run the examples you need to first spawn MARA in Gazebo.

source ~/ros2_mara_ws/install/setup.bash
ros2 launch mara_gazebo mara.launch.py

You can choose between one of the available URDFs for spawning different configurations of MARA (mara_robot_gripper_140, mara_robot_gripper_140_no_table, mara_robot_gripper_85 and mara_robot_gripper_hande). Remember to spawn a URDF with gripper if you want to run the service examples.

ros2 launch mara_gazebo mara.launch.py --urdf mara_robot_gripper_140

Terminal 2

In a different terminal, run the example you would like to test.

source ~/ros2_mara_ws/install/setup.bash
ros2 run mara_minimal_publisher mara_minimal_publisher_v1