Files for the diablo robot and kinova arm integration. Tested on ROS2 Foxy
For velocity control with teleop_twist, xterm is required.
sudo apt install xterm
mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
git clone https://github.com/RISC-NYUAD/diablo_arm
cd ..
sudo apt-get update
rosdep update --rosdistro=foxy
rosdep install --from-paths src -y --ignore-src
colcon build --symlink-install
To launch the simulation without the arm:
source install/setup.bash
ros2 launch diablo_simulation gazebo.launch.py
To launch the simulation with the arm:
source install/setup.bash
ros2 launch diablo_simulation gazebo_arm.launch.py
A version without plugins can also be simulated.
source install/setup.bash
ros2 launch diablo_simulation gazebo_noplugin.launch.py
You should see the robot appear in the Gazebo simulation window
