Build Instructions

First, source your chosen ros2 distro.

source /opt/ros/rolling/setup.bash

source /opt/ros/galactic/setup.bash

Before you build, make sure you’ve installed all the dependencies…

rosdep install --ignore-src --from-paths src -y -r

Then build with colcon build…

colcon build

Operating Instructions

After you built the project don’t forget to setup your environment: First source the gazebo setup via

source /opt/ros/galactic/share/gazebo_ros/local_setup.bash

Then source the proper install folder…

source ~/<ros2_ws>/install/setup.bash

And then run the launch file…

ros2 launch sm_test_moveit_ur5_sim sm_test_moveit_ur5_sim.launch

If the simulation is not starting up properly check if your GAZEBO_RESOURCE_PATH is set correctly (echo $GAZEBO_RESOURCE_PATH). Otherwise simply set it with:

export GAZEBO_RESOURCE_PATH=/usr/share/gazebo-<your_gazebo_version>/

Note: Sometimes the Gazebo server is not shutdown correctly. If you cannot restart the simulation you might have to look if there is still a instance of the server (gzserver) running. You then have to end it manually. Or just run:

killall -9 gzserver

Viewer Instructions

If you have the SMACC2 Runtime Analyzer installed then type…

ros2 run smacc2_rta smacc2_rta

If you don’t have the SMACC2 Runtime Analyzer click here

Changelog for package sm_test_moveit_ur5_sim

1.22.1 (2022-11-09)

• pre-release

• Contributors: pabloinigoblasco

• improvements in navigation client behaviors and husky barrel demo (#311)

  • improvements in navigation client behaviors and husky barrel demo
  • many improvements in action client and cb sequence for hysky barrel search
  • more and better navigation behaviors on husky barrel search demo
  • functionality improvements in navigation and improvements of warehouse 3, format
  • functionality improvements in navigation and improvements of warehouse 3 and husky
  • format

• Initial fixing of single UR sim. (#302)

  • Initial fixing of single UR sim.
  • update repos files and README.md for gazebo simulation of ur5
  • fix formatting

  * python flake formatting fixes Co-authored-by: Manuel M <<mamueluth@gmail.com>>

• Feature/multi ur5 sim (#290)

  • Remove galactic builds from master and kepp only rolling. Remove submodules and use .repos file
  • updated mentions of SMACC/ROS to SMACC2/ROS2
  • some progress on navigation rolling
  • renamed folders, deleted tracing.md, edited README.md
  • added smacc2_performance_tools
  • performance tests improvements
  • more on performance and other issues
  • sm_respira_1 format cleanup
  • sm_respira_1 format cleanup pre-commit
  • sm_respira_test_2
  • sm_respira_test_2
  • more changes on performance tests
  • Do not execute clang-format on smacc2_sm_reference_library package.
  • sm_reference_library reformatting
  • Correct trailing spaces.
  • sm_atomic_24hr
  • sm_atomic_performance_trace_1
  • Update smacc2_rta command across readmes
  • Clean up of sm_atomic_24hr
  • more sm_atomic_24hr cleanup
  • Optimized deps in move_base_z_planners_common.
  • Renaming of event generator library
  • minor formatting
  • Add galactic CI setup and rename rolling files. (#58)
  • Fix source CI and correct README overview. (#62)
  • Update c_cpp_properties.json

  * changed launch command to ros2 launch sm_respira_1 sm_respira_1.launch (#69) also noticed a note I had made while producing these that was not removed

  * update doxygen links (#70) Co-authored-by: Ubuntu 20-04-02-amd64 <<brett@robosoft.ai>>

  * More Readme Updates (#72) Co-authored-by: Ubuntu 20-04-02-amd64 <<brett@robosoft.ai>>

  * More Readme (#74) Co-authored-by: Ubuntu 20-04-02-amd64 <<brett@robosoft.ai>>

  • created new sm from sm_respira_1 (#76)
  • Feature/core and navigation fixes (#78)
  • base for the sm_aws_aarehouse navigation
  • progressing in aws navigation
  • minor
  • several core improvements during navigation testing
  • formatting improvements
  • progress in aws navigation demo
  • format improvements
  • Feature/aws demo progress (#80)
  • base for the sm_aws_aarehouse navigation
  • progressing in aws navigation
  • minor
  • several core improvements during navigation testing
  • formatting improvements
  • progress in aws navigation demo
  • format improvements
  • format improvements
  • more on navigation
  • sm_advanced_recovery_1 reworked (#83)
  • sm_advanced_recovery_1 reworked
  • fix pre-commit

  * Trying to fix Pre-Commit Co-authored-by: Ubuntu 20-04-02-amd64 <<brett@robosoft.ai>>

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