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sm_test_moveit_ur5_sim package from SMACC2 repo

smacc2 keyboard_client move_group_interface_client multirole_sensor_client backward_global_planner backward_local_planner forward_global_planner forward_local_planner nav2z_planners_common pure_spinning_local_planner undo_path_global_planner nav2z_client ros_publisher_client ros_timer_client eg_conditional_generator eg_random_generator smacc2_msgs sm_atomic_performance_trace_1 sm_atomic_subscribers_performance_test sm_coretest_transition_speed_1 sm_advanced_recovery_1 sm_atomic sm_atomic_24hr sm_atomic_hierarchy sm_atomic_services sm_autoware_avp sm_aws_warehouse_navigation sm_branching sm_dance_bot sm_dance_bot_strikes_back sm_dance_bot_warehouse sm_dance_bot_warehouse_2 sm_dance_bot_warehouse_3 sm_husky_barrel_search_1 sm_multi_stage_1 sm_multi_ur5_sim sm_pack_ml sm_pubsub_1 sm_respira_1 sm_test_moveit_ur5_sim sm_three_some sr_all_events_go sr_conditional sr_event_countdown

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Package Summary

Tags No category tags.
Version 2.2.1
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/robosoft-ai/SMACC2.git
VCS Type git
VCS Version galactic
Last Updated 2022-12-30
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The sm_test_moveit_ur5_sim package

Additional Links

No additional links.

Maintainers

  • SMACC2 is cool

Authors

No additional authors.
smacc2_sm_reference_library/sm_test_moveit_ur5_sim/README.md

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
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Launch files

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Messages

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Services

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Plugins

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