{"id":17320112,"url":"https://github.com/youtalk/youfork","last_synced_at":"2025-04-14T14:21:57.691Z","repository":{"id":77689395,"uuid":"222872804","full_name":"youtalk/youfork","owner":"youtalk","description":"youfork: Fully ROS 2 Homemade Mobile Manipulator","archived":false,"fork":false,"pushed_at":"2020-07-03T01:30:14.000Z","size":441,"stargazers_count":36,"open_issues_count":0,"forks_count":7,"subscribers_count":5,"default_branch":"master","last_synced_at":"2025-04-14T14:21:51.094Z","etag":null,"topics":["circleci","cpp","jetson-xavier","ps4-controller","robotis","roomba","ros2","rplidar-a1"],"latest_commit_sha":null,"homepage":"","language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"apache-2.0","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/youtalk.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,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2019-11-20T07:04:52.000Z","updated_at":"2025-03-24T09:23:51.000Z","dependencies_parsed_at":"2023-04-16T09:33:02.737Z","dependency_job_id":null,"html_url":"https://github.com/youtalk/youfork","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/youtalk%2Fyoufork","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/youtalk%2Fyoufork/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/youtalk%2Fyoufork/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/youtalk%2Fyoufork/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/youtalk","download_url":"https://codeload.github.com/youtalk/youfork/tar.gz/refs/heads/master","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":248894949,"owners_count":21179154,"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":["circleci","cpp","jetson-xavier","ps4-controller","robotis","roomba","ros2","rplidar-a1"],"created_at":"2024-10-15T13:29:03.028Z","updated_at":"2025-04-14T14:21:57.682Z","avatar_url":"https://github.com/youtalk.png","language":"C++","readme":"# youfork: Fully ROS 2 Homemade Mobile Manipulator\n\n[![CircleCI](https://circleci.com/gh/youtalk/youfork.svg?style=svg)](https://circleci.com/gh/youtalk/youfork)\n\n`youfork` is a mobile manipulator for home tidy-up. The movie below shows a little first try of the home tidy-up by teleoperation.\n\n[![youfork: Fully ROS 2 Homemade Mobile Manipulator](https://img.youtube.com/vi/2srDav_n2S0/0.jpg)](https://www.youtube.com/watch?v=2srDav_n2S0)\n\n[Slides from ROS Japan UG #37](https://docs.google.com/presentation/d/1QCLE6ED7YsSedzqXm65fToplTvbDD3roUvKMAm8AC5k/preview) (in Japanese)\n\nAll components are driven by ROS 2 Eloquent and Ubuntu 18.04 on the Jetson Xavier.\n`youfork` has a lot of devices inside:\n\n- NVIDIA Jetson Xavier\n- ROBOTIS Open Manipulator X\n- iRobot Roomba 643\n- Intel RealSense D435i\n- SlamTec RPLidar A1M8\n- 25,000mAh Battery\n- PS4 controller for teleoperation\n\n`youfork` packages is beeing checked to build on CircleCI with ROS 2 Eloquent and Foxy.\nHowever the Jetson Xavier on `youfork` is currently running only on Ubuntu 18.04, so that I've checked to work `youfork` properly only on ROS 2 Eloquent and Ubuntu 18.04.\n\n## Install dependencies\n\nFirstly install `librealsense2` package because it cannot be installed by `rosdep` then check out repositories by `vcs import` and run `rosdep install`.\n\n```sh\nmkdir ~/youfork \u0026\u0026 cd ~/youfork\ngit clone git@github.com:youtalk/youfork.git src\nsudo apt update\nsudo apt install -y software-properties-common\nsudo apt-key adv --keyserver keys.gnupg.net --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE\nsudo add-apt-repository \"deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo bionic main\" -u\nsudo apt update\nsudo apt install --no-install-recommends python3-vcstool librealsense2-dev\nsource /opt/ros/$ROS_DISTRO/setup.bash\ncd ~/youfork/src\nvcs import \u003c youfork.repos\ncd ~/youfork\nrosdep install --from-paths . --ignore-src -y\n```\n\n## Build\n\n```sh\ncd ~/youfork\nsource /opt/ros/$ROS_DISTRO/setup.bash\ncolcon build\n```\n\n## Launch nodes\n\n### Bring up devices\n\n```sh\n. ~/youfork/install/setup.bash\nros2 launch ros2 launch youfork_bringup bringup.launch.xml use_create:=true use_open_manipulator:=true use_rplidar:=true use_realsense:=true\n```\n\n### Activate the Roomba lifecycle\n\n```sh\nsource /opt/ros/$ROS_DISTRO/setup.bash\nros2 lifecycle set /ca_driver configure\nros2 lifecycle set /ca_driver activate\n```\n\n### Visualize youfork by RViz2\n\n```sh\n. ~/youfork/install/setup.bash\nrviz2 -d ~/youfork/src/youfork_description/config/youfork.rviz\n```\n\n### Teleoperate by PS4 controller\n\nFirstly install [`ds4drv`](https://github.com/chrippa/ds4drv) and run the following command to connect with the wireless PS4 controller.\n\n```sh\nsudo ds4drv\n```\n\nThen launch the teleop related nodes.\n\n```sh\n. ~/youfork/install/setup.bash\nros2 launch youfork_teleop teleop.launch.xml\n```\n","funding_links":[],"categories":[],"sub_categories":[],"project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fyoutalk%2Fyoufork","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fyoutalk%2Fyoufork","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fyoutalk%2Fyoufork/lists"}