RoboOrchard Deploy ROS2

Introduction

This project includes two ROS2 robot toolkits: robo_orchard_calibrator and robo_orchard_deploy. robo_orchard_calibrator could be configured to perform hand-eye calibration of different robotic arms, while robo_orchard_deploy could be used to efficiently deploy the manipulation model in real robot.

Prerequisites

Before you begin, ensure you have the following installed on your system:

• Ubuntu 22.04

• ROS 2 Humble Hawksbill

• Python 3.10+

• make build automation tool

Build

Download

mkdir ros2_ws
cd ros2_ws
git clone https://github.com/HorizonRobotics/robo_orchard_deploy_ros2 .

Build

We provide Makefile to simplify the setup. While we recommend using a Python virtual environment. You can also use colcon build diretly.

# prepare env
make dev-env
# make
make ros2_build
# adjust env
source install/setup.bash

After compilation, the directory structure will be structured as follows. The src directory contains ROS2 packages.

.
├── example
│   ├── config
│   └── scripts
├── scm
│   ├── lint
│   └── qac
└── src
    ├── robo_orchard_calibrator
    │   ├── resource
    │   └── robo_orchard_calibrator
    └── robo_orchard_deploy
        ├── launch
        ├── resource
        └── robo_orchard_deploy

License

robo_orchard_ros2 is open-source and licensed under the Apache License 2.0. If you are interested in contributing, please reach out to us.