ROS Index
Repository Summary
| Description | ROS2 was developed for the Realman robot (http://www.realman-robotics.com/). |
| Checkout URI | https://github.com/realmanrobot/ros2_rm_robot.git |
| VCS Type | git |
| VCS Version | humble |
| Last Updated | 2025-06-09 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| control_arm_move | 0.0.0 |
| force_position_control | 0.0.0 |
| get_arm_state | 0.0.0 |
| rm_bringup | 0.0.0 |
| rm_control | 0.0.0 |
| rm_description | 0.0.0 |
| rm_doc | 0.0.0 |
| rm_driver | 0.0.0 |
| rm_example | 0.0.0 |
| rm_gazebo | 0.3.0 |
| rm_install | 0.0.0 |
| rm_63_config | 0.3.0 |
| rm_65_config | 0.3.0 |
| rm_75_config | 0.3.0 |
| rm_eco63_config | 0.3.0 |
| rm_eco65_config | 0.3.0 |
| rm_gen72_config | 0.3.0 |
| rm_ros_interfaces | 0.0.0 |
README
ros2_rm_robot
The package is mainly used for providing ROS2 support for the robotic arm, and the following is the use environment.
- Currently supported robotic arms are RM65 series, RM75 series, ECO65 series, ECO63 series, RML63 series, GEN72 series, and the details can be referred to the website RealMan robots.
- Version V1.4.0.
- The supported robotic arm controller version is 1.4.3 or above.
- The Ubuntu version is 22.04.
- The ROS2 version is humble.
The following is the installation and use tutorial of the package.
1. Build the environment
Before using the package, we first need to do the following operations.
1.Install_ROS2
We provide the installation script for ROS2, ros2_install.sh, which is located in the scripts folder of the rm_install package. In practice, we need to move to the path and execute the following commands.
sudo bash ros2_install.sh
If you do not want to use the script installation, you can also refer to the website ROS2_INSTALL.
Install_Moveit2
We provide the installation script for Moveit2, moveit2_install.sh, which is located in the scripts folder of the rm_install package. In practice, we need to move to the path and execute the following commands.
sudo bash moveit2_install.sh
If you do not want to use the script installation, you can also refer to the website Moveit2_INSTALL.
Configure_the_package_environment
This script is located in the lib folder of the rm_driver package. In practice, we need to move to the path and execute the following commands.
sudo bash lib_install.sh
Compile
After the above execution is successful, execute the following commands to compile the package. First, we need to build a workspace and import the package file into the src folder under the workspace, and then use the colcon build command to compile.
mkdir -p ~/ros2_ws/src
cp -r ros2_rm_robot ~/ros2_ws/src
cd ~/ros2_ws
colcon build --packages-select rm_ros_interfaces
source ./install/setup.bash
colcon build
After the compilation is completed, the package can be run.
2. Function running
Package introduction
- Installation and environment configuration (rm_install)
- This package is the auxiliary package for using the robotic arm. It is mainly used to introduce the installation and construction method of the package use environment, the installation of the dependent library and the compilation method of the function package.
- Hardware driver (rm_driver)
- This package is the ROS2 underlying driver package of the robotic arm. It is used to subscribe and publish the underlying related topic information of the robotic arm.
- Launch (rm_bringup)
- This package is the node launch package of the robotic arm. It is used to quickly launch the multi-node compound robotic arm function.
- Model description (rm_description)
- This package is the model description package of the robotic arm. It is used to provide the robotic arm model file and model load node, and provide the coordinate transformation relationship between the joints of the robotic arm for other packages.
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