ROS2 + Moveit2 for RoArm-M2-S

1 Installing ROS2 Applications for RoArm-M2-S on Ubuntu 22.04 (ROS2 Humble)

• Download the Ubuntu 22.04 image
  • Link: Ubuntu 22.04.4 Desktop Image
• Download and install Oracle VM VirtualBox
  • Link: VirtualBox Downloads

1.1 Loading the Image File

• Run Oracle VM VirtualBox.
• Click on New → Enter a name → Choose a project folder (preferably on a disk with sufficient space) → Specify the virtual optical disk as the image file you just downloaded.
  • Note: Ensure to uncheck Skip Unattended Installation. Otherwise, in Oracle VM VirtualBox versions above 7.0, you might not have root permissions and might not be able to use the terminal.
• After proceeding, select the newly appeared image name on the left, click on Settings → Display → Screen, and increase the video memory if possible. If conditions allow, allocate 128 MB. Apply the settings.
• Double-click the image on the left, then select Try or Install Ubuntu.
• Install Ubuntu 22.04.

1.2 Downloading the Project and Installing Dependencies

Update software sources:

sudo apt update

Upgrade the system:

sudo apt upgrade

Install git:

sudo apt install git

Then, clone the project from GitHub:

git clone https://github.com/DUDULRX/roarm_ws_em0.git

Install dependencies:

sudo apt install software-properties-common
sudo add-apt-repository universe

sudo apt update && sudo apt install curl -y
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg

echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

sudo apt update
sudo apt upgrade

sudo apt install ros-humble-desktop

sudo apt install ros-dev-tools

sudo apt install net-tools
sudo apt install ros-humble-moveit-*
sudo apt install ros-humble-foxglove-bridge
sudo apt autoremove ros-humble-moveit-servo-*

Add ROS2 to the source Source the setup script:

echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
source ~/.bashrc

Install Python3 libraries:

sudo apt install python3-pip
cd ~/roarm_ws_em0
python3 -m pip install -r requirements.txt

Initial compilation:

cd ~/roarm_ws_em0
sudo chmod +x build_first.sh
. build_first.sh

Contents of build_first.sh (automatically run by the script; no manual execution required). This step may take a while to complete.

cd ~/roarm_ws_em0
colcon build
echo "source ~/roarm_ws_em0/install/setup.bash" >> ~/.bashrc
source ~/.bashrc 

At this point, you can use the tutorial content. Some packages may generate stderr output during the compilation process, which can be ignored.

1.3 Subsequent Compilations and Usage

Every time you make changes to a package’s code, you need to recompile it before using it.

Regular compilation:

cd ~/roarm_ws_em0
. build_common.sh

Contents of build_common.sh (automatically run by the script; no manual execution required):

cd ~/roarm_ws_em0
colcon build
colcon build --packages-select roarm_web_app launch_api ros2web_app ros2web_widgets ros2web ros2web_example_py --symlink-install 

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