Scan 'N Plan Workshop

Install

1. Install the prerequisite packages:

   • taskflow (from the ROS-I PPA)

     sudo add-apt-repository ppa:ros-industrial/ppa
     sudo apt-get update
     sudo apt-get install taskflow

2. Install the ROS2 dependencies

   cd <snpd_workspace>
   vcs import < src/roscon_2021_demo/tesseract-dependencies.rosinstall
   vcs import < src/roscon_2021_demo/dependencies.rosinstall
   rosdep install --from-paths src --ignore-src -r -y

3. Build

   colcon build --cmake-args -DTESSERACT_BUILD_FCL=OFF

4. Build the ros1_bridge

   • Create a new workspace, clone this branch of the ros1_bridge repo

   git clone -b action_bridge https://github.com/ipa-hsd/ros1_bridge.git

   • Source the ROS1 installation

   source /opt/ros/noetic/setup.bash

   • Build the bridge

   colcon build --symlink-install --packages-select ros1_bridge --cmake-force-configure

5. Build the ROS1 workspace

   • Create a new workspace, clone this commit of the motoman repo

   git clone -b 63c94ec https://github.com/ros-industrial/motoman.git

   • Source the ROS1 installation

   source /opt/ros/noetic/setup.bash

   • Build the repo

   catkin build

Running the system

1. Start the ROS1 launch file

   • roslaunch motoman_hc10_support robot_interface_streaming_hc10.launch robot_ip:=192.168.1.31 controller:=yrc1000

2. Source both ROS distros and run the bridge

   • source /opt/ros/noetic/setup.bash
     source install/setup.bash
     ros2 run ros1_bridge dynamic_bridge --bridge-all-1to2-topics

3. Start the ROS2 launch file

   • ros2 launch snp_bringup_ros2 start.launch.xml sim_robot:=false