ICube-Robotics / hk1d_ros2

ROS2 stack to use a 1-Dof haptic kit used at the ICube laboratory

hk1d_ros2

ROS2 control stack for a 1-Dof haptic kit used at the ICube laboratory.

The current devs are based on the humble ROS 2 distribution (Ubuntu 22.04 LTS)

Installation

1. Install etherlab

See for instance the procedure in the Dockerfile of ICube-Robotics/ethercat_driver_ros2.

2. Install ROS2 dependencies

cd <ros_ws>/src
git clone https://github.com/ICube-Robotics/hk1d_ros2.git
vcs import . < hk1d_ros2/hk1d_ros2.repos  # MANDATORY!!!
cd ..
rosdep install --ignore-src --from-paths . -y -r

2. Build the packages

source /opt/ros/humble/setup.bash
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --symlink-install
source install/setup.bash