{"id":19901316,"url":"https://github.com/niryorobotics/niryo_one_ros","last_synced_at":"2025-04-06T02:10:51.500Z","repository":{"id":41382134,"uuid":"111794146","full_name":"NiryoRobotics/niryo_one_ros","owner":"NiryoRobotics","description":"Niryo One ROS stack","archived":false,"fork":false,"pushed_at":"2022-12-07T17:35:41.000Z","size":21146,"stargazers_count":241,"open_issues_count":25,"forks_count":161,"subscribers_count":30,"default_branch":"master","last_synced_at":"2025-03-30T01:10:06.601Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":null,"language":"Python","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"gpl-3.0","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/NiryoRobotics.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null}},"created_at":"2017-11-23T10:11:15.000Z","updated_at":"2025-03-17T02:18:39.000Z","dependencies_parsed_at":"2023-01-24T19:19:14.873Z","dependency_job_id":null,"html_url":"https://github.com/NiryoRobotics/niryo_one_ros","commit_stats":null,"previous_names":[],"tags_count":9,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/NiryoRobotics%2Fniryo_one_ros","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/NiryoRobotics%2Fniryo_one_ros/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/NiryoRobotics%2Fniryo_one_ros/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/NiryoRobotics%2Fniryo_one_ros/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/NiryoRobotics","download_url":"https://codeload.github.com/NiryoRobotics/niryo_one_ros/tar.gz/refs/heads/master","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":247423515,"owners_count":20936626,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2024-11-12T20:14:38.511Z","updated_at":"2025-04-06T02:10:51.473Z","avatar_url":"https://github.com/NiryoRobotics.png","language":"Python","funding_links":[],"categories":[],"sub_categories":[],"readme":"# Niryo One ROS stack\n\nLicensed under GPLv3 (see [LICENSE file](https://github.com/NiryoRobotics/niryo_one_ros/blob/master/LICENSE))\n\n(Niryo One : [https://niryo.com](https://niryo.com/?utm_source=github))\n\n![niryo one rviz simulation](https://niryo.com/wp-content/uploads/2018/08/ros_rviz_niryo_one_colors.png)\n\nThis repository contains all ROS packages used on Niryo One (Raspberry Pi 3B - Xubuntu for ARM).\n\n## How to use Niryo One with a graphical interface ?\n\nYou can [download Niryo One Studio](https://niryo.com/download/?utm_source=github) (Linux, Windows and MacOS compatible).\n\n## How to install Niryo One ROS packages on your computer (x86) - Simulation Mode\n\nRequirements :\n* Ubuntu 16.04\n* ROS kinetic  (other versions are not supported)\n\nFirst install ROS kinetic \"Desktop-Full\" (tutorial [here](http://wiki.ros.org/kinetic/Installation/Ubuntu)).\n\nYou'll need to install some additional ROS packages :\n```\nsudo apt-get install ros-kinetic-robot-state-publisher ros-kinetic-moveit ros-kinetic-rosbridge-suite ros-kinetic-joy ros-kinetic-ros-control ros-kinetic-ros-controllers ros-kinetic-tf2-web-republisher\n```\nYou'll also need to install an additional Python module :\n```\nsudo -H pip install jsonpickle\n```\nCreate a catkin workspace and clone Niryo One ROS stack :\n```\nmkdir -p ~/catkin_ws/src\ncd ~/catkin_ws/src\ngit clone https://github.com/NiryoRobotics/niryo_one_ros.git .\n```\nBuild the packages :\n```\ncd ~/catkin_ws\ncatkin_make\n```\nDon't forget to use those commands before you try to launch anything (you can add them in your .bashrc) :\n```\nsource /opt/ros/kinetic/setup.bash\nsource ~/catkin_ws/devel/setup.bash\n```\nYou can now launch Rviz with Niryo One (only display mode with some cursors to move the joints):\n```\nroslaunch niryo_one_description display.launch\n```\n\nYou can also launch the complete Niryo One ROS Stack instead, which you can control from Niryo One Studio.\n```\nroslaunch niryo_one_bringup desktop_rviz_simulation.launch\n```\n\nThe main differences between this launch file and the launch file executed on Raspberry Pi 3B (rpi\\_setup.launch) is that the hardware functionalities are disabled, and you get a 3D simulation view with Rviz.\n\nNote that Niryo One ROS packages have been developed with **ROS kinetic, on Ubuntu 16.04**. Other ROS versions and OS distributions are not supported.\n\n---\n\n(Optional) After you install ROS packages and execute catkin_make you still have some installation steps if you want to use Blockly (\"Niryo Blocks\" on Niryo One Studio).\n\nMake sure that you have a recent nodejs version (not the default installed one)\n```\ncurl -sL https://deb.nodesource.com/setup_8.x | sudo -E bash -\nsudo apt-get install -y nodejs\n```\n\nInstall node modules in the blockly_code_generator directory (where you can find package.json) and create an executable.\n```\ncd ~/catkin_ws/src/niryo_one_user_interface/blockly_code_generator\nnpm install\nsudo npm link\n```\n\nThat's it, you have now all the Niryo One functionalities ready to be used.\n\n## Niryo One ROS Stack overview\n\nHere's a global overview of the Niryo One ROS Stack :\n\n![niryo one ros stack - global overview](https://niryo.com/wp-content/uploads/2017/12/niryo_one_ros.png)\n\n**You can find more specific and detailed info in each package's README.**\n\n## Developer Documentation\n\n* [Get started with the Niryo One Stack](https://niryo.com/docs/niryo-one/developer-tutorials/get-started-with-the-niryo-one-ros-stack/). This will help you understand the architecture and where to start as a developer.\n* [C++ example to move the robot](https://github.com/smaassen/niryo_one_tester) by Steve Maassen\n* [Python API](https://github.com/NiryoRobotics/niryo_one_ros/tree/master/niryo_one_python_api)\n* [Remotely control Niryo One (ROS multi-machines)](https://niryo.com/docs/niryo-one/developer-tutorials/remotely-control-niryo-one-ros-multi-machines/)\n\n## Any question ?\n\nIf you have a question and you don't find the answer here or on our [documentation](https://niryo.com/docs/niryo-one/), please [send us a message](https://niryo.com/contact/).\n\nThank you !\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fniryorobotics%2Fniryo_one_ros","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fniryorobotics%2Fniryo_one_ros","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fniryorobotics%2Fniryo_one_ros/lists"}