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drake_ros_examples

README.md

Drake ROS Examples

This is a collection of examples built around drake_ros libraries' C++ and Python APIs.

Building with Colcon

This package is built and tested on Ubuntu Jammy 22.04 with ROS 2 Humble and Rolling, using a recent Drake stable release.

It may work on other versions of ROS and Drake, but that is not explicitly tested.

To build it for Jammy with ROS 2 Humble using colcon and ament (ROS 2's build tooling and CMake infrastructure)

  1. Install ROS Humble
    Taken from the website (be sure to review these commands before executing!)

    sudo apt install software-properties-common
sudo add-apt-repository universe
sudo apt update && sudo apt install curl
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
sudo apt update
# Install the desktop user entry point.
sudo apt install ros-humble-desktop
# Install dev tools.
sudo apt install ros-dev-tools

# Update dependencies index.
rosdep update

    For other entry points aside from ros-humble-desktop, please see the Humble section of REP 2001:
    https://www.ros.org/reps/rep-2001.html#humble-hawksbill-may-2022-ongoing

  2. Source your ROS installation

    source /opt/ros/humble/setup.bash

  3. Install the Drake, preferably a stable release, either locally or in a way that is global to your system.
    You will need both the C++ and Python components of Drake, so installing via pip is not recommended.

    • For CMake, you should ensure Drake is on your PATH, or Drake's is on CMAKE_PREFIX_PATH.

    • For Python, you should ensure it is on your PYTHONPATH.

    • As an example installation method, here's how to install via apt:
      https://drake.mit.edu/apt.html#stable-releases
      (You may want to practice with a container first!)

      sudo apt-get update
sudo apt-get install --no-install-recommends \
    ca-certificates gnupg lsb-release wget
wget -qO- https://drake-apt.csail.mit.edu/drake.asc | gpg --dearmor - \
    | sudo tee /etc/apt/trusted.gpg.d/drake.gpg >/dev/null
echo "deb [arch=amd64] https://drake-apt.csail.mit.edu/$(lsb_release -cs) $(lsb_release -cs) main" \
    | sudo tee /etc/apt/sources.list.d/drake.list >/dev/null
sudo apt-get update
sudo apt-get install --no-install-recommends drake-dev

      In each terminal session, you should ensure the suggestioned environment variables are present (e.g. via ~/.bash_aliases or your own drake_setup.sh script):

      export PATH="/opt/drake/bin${PATH:+:${PATH}}"
export PYTHONPATH="/opt/drake/lib/python$(python3 -c 'import sys; print("{0}.{1}".format(*sys.version_info))')/site-packages${PYTHONPATH:+:${PYTHONPATH}}"

  4. Build your workspace using Colcon.

    # Make a workspace
# See also: https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Creating-A-Workspace/Creating-A-Workspace.html
mkdir -p ./ws/src
cd ./ws/src

# Get this code
git clone https://github.com/RobotLocomotion/drake-ros.git

# Return to workspace
cd ..

# Install required dependencies.
rosdep install --from-paths src -ryi

# Build the packages.
# Use --symlink-install so you can do things like edit Python source code
# and see it reflected without rebuilding / reinstalling.
colcon build --packages-up-to drake_ros_examples --symlink-install

# Run the unittests - avoid surprises!
colcon test --packages-up-to drake_ros_examples --event-handlers console_cohesion+
# Note: If you encounter test errors, you may want to reinspect the results with
# a bit more narrow focus.
colcon test-result --verbose

Note: As you are developing, you may want to track your workspace using vcstool and/or use an existing *.repos to initialize it.
For an example set of repositories, see the (very comprehensive) ros2.repos per the ROS 2 Docs

Running

Source your workspace.

source ./ws/install/setup.bash

Now you can run C++ and Python examples using nominal ROS 2 + ament + CMake tooling per the list below.

Examples