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sciurus17_ros

This is a ROS 2 package suite for the Sciurus17.

Table of Contents

• sciurus17_ros
  • Table of Contents
  • Supported ROS 2 distributions
  • Requirements
  • Installation
  • Quick Start
  • Packages
  • How ot Use Examples
  • License
  • Contributing

Supported ROS 2 distributions

• Humble Hawksbill
• Jazzy Jalisco

Requirements

• Sciurus17
  • Product page
  • Web shop
• Linux OS
  • Ubuntu 24.04
• ROS 2
  • Jazzy Jalisco

Installation

Source Build

# Download packages
mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
git clone -b $ROS_DISTRO https://github.com/rt-net/sciurus17_ros.git
git clone -b $ROS_DISTRO https://github.com/rt-net/sciurus17_description.git

# Install dependencies
rosdep install -r -y -i --from-paths .

# Build & Install
cd ~/ros2_ws
colcon build --symlink-install
source ~/ros2_ws/install/setup.bash

Quick Start

Device Setup

Sample programs are available in both C++ and Python. See the links below for details.

ros2 run sciurus17_tools create_udev_rules

Reboot the PC after running the script to update the udev rules. After rebooting, the new device /dev/sciurus17spine will be created.

Run

The following command makes Sciurus17 open and close its gripper.

# Connect Sciurus17 to PC, then
source ~/ros2_ws/install/setup.bash
ros2 launch sciurus17_examples demo.launch.py

# Terminal 2
source ~/ros2_ws/install/setup.bash
ros2 launch sciurus17_examples example.launch.py example:='gripper_control'

# Press [Ctrl-c] to terminate.

Packages

• sciurus17_control
  • README
  • This package provides a hardware driver for Sciurus17.
  • The procedure for configuring the USB communication port is described in the README.
• sciurus17_examples
  • README
  • This package provides C++ examples for Sciurus17.
• sciurus17_examples_py
  • README
  • This package provides Python examples for Sciurus17.
• sciurus17_gazebo
  • This package provides Gazebo simulation environments for Sciurus17.
• sciurus17_moveit_config
  • This package provides configuration files for MoveIt 2.
• sciurus17_tools
  • This package provides optional tools for Sciurus17.
• sciurus17_vision
  • This package provides launch files for camera nodes.
  • chest_camera_info.yaml containes the chest camera calibration parameter.
• sciurus17_description (external package)
  • README
  • This package provides the model data (xacro) of Sciurus17.

How to Use Examples

Sample programs are available in both C++ and Python. See the links below for details.

• C++
  • sciurus17_examples
• Python
  • sciurus17_examples_py

License

(C) 2018 RT Corporation <support@rt-net.jp>

This repository is licensed under the Apache License, Version 2.0, see LICENSE.
Unless attributed otherwise, everything in this repository is under the Apache License, Version 2.0.

The sciurus17_ros depends on sciurus17_description package. The RT Corporation's NON-COMMERCIAL LICENSE applies to the package.

Contributing

• This software is open source, but its development is not open.
• This software is essentially provided as open source software on an “AS IS” (in its current state) basis.
• No free support is available for this software.
• Requests for bug fixes and corrections of typographical errors are always accepted; however, requests for additional features will be subject to our internal guidelines. For further details, please refer to the Contribution Guidelines.