Please refer to https://wiki.ros.org/denso_robot_ros.

Setup Environment

1. Install Gazebo

(Update 2024-3-12: Using fortress instead of garden)

Following as Gazebo Official Install

2. Install the Gazebo Ros2 Packages by binary

(Update 2024-3-12: Using official Gazebo packages)

mkdir -p ~/gazebo_ws/src && cd ~/gazebo_ws/src

Clone gz_ros2_control and ros_gz

git clone https://github.com/ros-controls/gz_ros2_control.git

git clone https://github.com/gazebosim/ros_gz.git

cd gz_ros2_control

git checkout humble

cd ../ros_gz

git checkout humble

cd ~/gazebo_ws

export IGNITION_VERSION=fortress

export GZ_VERSION=fortress

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

colcon build

echo "source ~/gazebo_ws/install/setup.bash" >> ~/.bashrc

3. Install the Moveit by binary

Following as Moveit2 Humble Official package

4. Clone and compile this package

mkdir -p ~/denso_ws/src && cd ~/denso_ws/src

git clone https://github.com/smartrobotsdesignlab/denso_robot_ros2.git

cd ~/denso_ws

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

colcon build

5. Launch the Gazebo Robot & Enjoy

ros2 launch denso_robot_bringup denso_robot_bringup.launch.py sim_gazebo:=true robot_controller:=forward_position_controller

Option Luanch Moveit

ros2 launch denso_robot_bringup denso_robot_bringup.launch.py sim_gazebo:=true robot_controller:=trajectory_controller

ros2 launch denso_robot_moveit_config denso_robot_moveit.launch.py use_sim_time:=true

6. Control Robot

You can control the robot by publish the command to /forward_position_controller/commands

For example:

ros2 topic pub --once /forward_position_controller/commands std_msgs/msg/Float64MultiArray "{layout: {}, data: [0,0,1.574,0,0,0]}"

Real Robot

ros2 launch denso_robot_bringup denso_robot_bringup.launch.py robot_ip:=192.168.0.1 robot_port:=5007

Update Log

Rather than V3. This ROS2 version making the Denso robot SDK independentely, and you can use thses 3 packages(bcap_core, bcap_service, denso_robot_core) on any platform.