PhantomX Driver

This repo includes the basic packges for using a phantomX pincher arm with ROS2 (humble). Includes:

• phantom_control: For ros2_control integration. Custom topic-based HW plugin implementation for coppelia control.
• phantom_coppelia: CoppeliaSim scene bringup templates. Ready to use with phantom_control
• phantom_description: URDF/Xacro files for robot states.

Getting started

Install ROS2

Install ROS2 humble and have it running. Here are some options depending in the OS.

• Ubuntu Jammy 22.04 LTS from debian ource. ros2 docs install tutorial
• MacOS: Use mamba and robostack for installing the binaries for ros-humble. robostack tutorial
• Windows: Use WSL for using a Linux Kernel and install ros as in Ubuntu OS

Rember to source the ros workspace

Workspace config

Clone this repo and configure the workspace.

mkdir phantom_ws && cd phantom_ws
mkdir src && cd src
git clone https://github.com/labsir-un/phantomx-driver.git
cd ..

build and source the project

colcon build --symlink-install && source install/setup.bash

ros_control example

Run the bringup phantom_control launchfile

ros2 launch phantom_control bringup_launch.py

You should be seeing the coppelia scene and rviz2 running up. Under the hood, ros2_control is handling the phantom joints_states readings with a joint_state_broadcaster and a PositionController is commanding their joint config.

Author

Andrés Morales Martínez ([email protected]) - Mechatronics Engineer Student

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This packages were made for LabSir (Laboratorios de Sistemas Inteligentes Robotizados)