https://github.com/open-rdc/orne_or
https://github.com/open-rdc/orne_or
Last synced: 5 months ago
JSON representation
- Host: GitHub
- URL: https://github.com/open-rdc/orne_or
- Owner: open-rdc
- License: bsd-2-clause
- Created: 2023-09-21T04:59:42.000Z (over 2 years ago)
- Default Branch: noetic-devel
- Last Pushed: 2025-03-28T09:04:28.000Z (about 1 year ago)
- Last Synced: 2025-03-28T10:22:41.947Z (about 1 year ago)
- Language: Python
- Size: 7.66 MB
- Stars: 10
- Watchers: 9
- Forks: 0
- Open Issues: 13
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
# orne_or
office robot control software in Robot Design and Control Lab.
## Install
Precondition:
1) Install ROS noetic (Ubuntu20.04/docker)
2) Install catkin-tools & ros-control
```
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-latest.list'
wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
sudo apt update
sudo apt install python3-catkin-tools ros-noetic-ros-control ros-noetic-ros-controllers
```
Install
```
cd ~/catkin_ws/src
git clone https://github.com/open-rdc/orne_or
wstool init
wstool merge orne_or/orne_or_pkgs.install
wstool up
rosdep update
rosdep install --from-paths . --ignore-src --rosdistro $ROS_DISTRO -y
cd ~/catkin_ws
catkin build
source ~/.bashrc
```
### Execute
Navigation
Simulator (gazebo)
```
roslaunch orne_or_bringup orne_or_sim.launch
roslaunch orne_or_navigation_executor nav_static_map.launch
```
Real Robot
```
roslaunch orne_or_bringup orne_or.launch
roslaunch orne_or_navigation_executor nav_static_map.launch
```
Manipulation
Simulator (gazebo)
```
roslaunch orne_or_bringup orne_or_manipulator_sim.launch
roslaunch orne_or_moveit_config moveit_planner.launch
```
Real Robot
```
roslaunch orne_or_bringup orne_or_manipulator.launch
roslaunch orne_or_moveit_config moveit_planner.launch
```
### Hardware
