Installation

Note

This project is under active development.

This tutorial goes over the installation process for the microvascular-anastamosis.

Getting Started

Create a new workspace

mkdir -p <workspace_dir>/src

Rename <workspace_dir> with the name of your choosing.

Enter into the workspace.

cd <workspace_dir>/src

Setting up the repo

Clone the git repo.

git clone https://github.com/jdcast/microvascular-anastamosis.git

Add the required repos and install dependencies.

vcs import --recursive < microvascular-anastamosis/galactic.repos

cd ..

rosdep -v install --from-paths src/microvascular-anastamosis/ -y --ignore-src --skip-key="orocos_toolchain orocos_kdl rtt_ros2_services rtt_ros2_sensor_msgs rtt_ros2_std_msgs rtt_ros2_geometry_msgs rtt_ros2_topics rtt_ros2_params rtt_ros2_node rtt_ros2 kdl_typekit reflexxestype2 robot_joint_publisher_gui ign_ros2_control ign_ros2_control_demos"

Build orocos_toolchian

colcon build --packages-select orocos_toolchain

source install/setup.bash

Install other dependencies

sudo apt install ros-galactic-moveit-common && sudo apt install ros-galactic-moveit && sudo apt install ros-galactic-moveit-servo && sudo apt-get install ros-galactic-ros2-control && sudo apt-get install ros-galactic-ign-ros2-control && sudo apt-get install ros-galactic-test-msgs && sudo apt-get install ros-galactic-ros-ign && sudo apt-get install ros-galactic-joint-state-publisher-gui

Build everything else

export IGNITION_VERSION=fortress

colcon build --executor sequential

source install/setup.bash

Make sure COLCON_PREFIX_PATH isn’t mangled by another ROS2 workspace

export COLCON_PREFIX_PATH=<path_to_workspace_dir>/install

Alias to set environment variable

There are quite a few RTT packages and there is a high chance of running into limitations, setting the below alias in the .bashrc file will help.

alias rsp_rtt='export RTT_COMPONENT_PATH=$COLCON_PREFIX_PATH/kdl_typekit/lib/orocos:$COLCON_PREFIX_PATH/orocos_toolchain/lib/orocos:$COLCON_PREFIX_PATH/rtt_ros2_builtin_interfaces/lib/orocos:$COLCON_PREFIX_PATH/rtt_ros2_geometry_msgs/lib/orocos:$COLCON_PREFIX_PATH/rtt_ros2_interfaces/lib/orocos:$COLCON_PREFIX_PATH/rtt_ros2/lib/orocos:$COLCON_PREFIX_PATH/rtt_ros2_node/lib/orocos:$COLCON_PREFIX_PATH/rtt_ros2_params/lib/orocos:$COLCON_PREFIX_PATH/rtt_ros2_primitives_typekit/lib/orocos:$COLCON_PREFIX_PATH/rtt_ros2_rclcpp_typekit/lib/orocos:$COLCON_PREFIX_PATH/rtt_ros2_std_msgs/lib/orocos:$COLCON_PREFIX_PATH/rtt_ros2_topics/lib/orocos:$COLCON_PREFIX_PATH/rsp_week07/lib/orocos:$COLCON_PREFIX_PATH/rtt_ur_trajectory/lib/orocos:$COLCON_PREFIX_PATH/rtt_ros2_sensor_msgs/lib/orocos:$COLCON_PREFIX_PATH/rtt_ros2_services/lib/orocos'

Then run:

rsp_rtt

Launch the robot simulation

ros2 launch robot robot.launch.xml

You should see the robot in both an rivz and gazebo window. See the images below for an example.

After: ros2 launch robot robot.launch.xml

gazebo

rviz

gazebo after ros2 launch robot robot.launch.xml

rviz after ros2 launch robot robot.launch.xml

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