ROS2 Eloquent Workspace

This ROS2 eloquent workspace is created on Ubuntu 18.04. Here I have worked on some moveit2 related projects.

Table of content

• Installation
• Package description
• Helper scripts
• Team
• Contributing
• FAQ
• Support
• License
• Acknowledgments

Installation

All the code required to get started

• Prerequisite

  • You should have ROS2 eloquent on your ubuntu 18.04.
  • All ROS dependency is satisfied.

• Clone

    git clone https://github.com/iamrajee/ros2eloquent_moveit_ws.git
    

• Setup

    cd ros2eloquent_moveit_ws/
    ./refresh.sh
    make
    

Package description

• moveit2

  It is package about usage moveit2 for motion planning,

  • Run

        ros2 launch run_moveit_cpp run_moveit_cpp2.launch.py
        

• moveit_task_constructor

  It is package about moveit_task_constructor for motion planning, #### Run

    ros2 launch moveit_task_constructor plan_pick
    

    ros2 launch moveit_task_constructor test_plan_current_state
    

    ros2 launch moveit_task_constructor test_plan_gripper
    

    ros2 launch moveit_task_constructor test_plan_generate_grasp_pose
    

• cpp_pubsub

  It is package about: cpp pub sub

  Terminal 1:

    $ ros2 run cpp_pubsub talker
    

Terminal 2:

    $ ros2 run  cpp_pubsub listener
    

• py_pubsub

  It is package about: python pub sub

  Terminal 1:

    $ ros2 run py_pubsub talker
    

Terminal 2:

    $ ros2 run py_pubsub listener
    

• cpp_srvcli

  It is package about: cpp service and client

  Terminal 1:

``` $ ros2 run cpp_srvcli server [INFO] [rclcpp]: Ready to add two ints. [INFO] [rclcpp]: Incoming request

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