QRB ROS Manipulator

qrb_ros_manipulator is a package to provide ROS service to control manipulator.

Overview

QRB ROS manipulator provides different vendor robot ARM SDK to control robot ARM movement.

qrb_manipulator_controller, which is a dynamic library, is base on this framework for helping developers to utilize this feature and provide unified API to control robot ARM. qrb_ros_manipulator, which is a ros package and provide ROS service to control robot ARM and get ARM status. It call qrb_manipulator_controller library to realize robot arm control. qrb_ros_manipulator_msg provides manipulator ROS messages, it include robot arm status, tcp pose, link pose and claw control.

Build

Currently, we only support use QCLINUX to build

1. Setup environments follow this document 's Set up the cross-compile environment. part

2. Create ros_ws directory in <qirp_decompressed_workspace>/qirp-sdk/

3. Clone this repository under <qirp_decompressed_workspace>/qirp-sdk/ros_ws

   git clone https://github.com/quic-qrb-ros/qrb_ros_manipulator.git
   git clone https://github.com/lebai-robotics/lebai-sdk.git

4. Build this project Lebai SDK:

    cmake -S. -Bbuild -DBUILD_PYTHON=OFF -DBUILD_DEB=ON -DBUILD_TESTING=OFF
    make install

   Manupulator:

   export AMENT_PREFIX_PATH="${OECORE_TARGET_SYSROOT}/usr;${OECORE_NATIVE_SYSROOT}/usr"
   export PYTHONPATH=${PYTHONPATH}:${OECORE_TARGET_SYSROOT}/usr/lib/python3.10/site-packages
   
   colcon build --merge-install --cmake-args \
     -DPython3_ROOT_DIR=${OECORE_TARGET_SYSROOT}/usr \
     -DPython3_NumPy_INCLUDE_DIR=${OECORE_TARGET_SYSROOT}/usr/lib/python3.10/site-packages/numpy/core/include \
     -DPYTHON_SOABI=cpython-310-aarch64-linux-gnu -DCMAKE_STAGING_PREFIX=$(pwd)/install \
     -DCMAKE_PREFIX_PATH=$(pwd)/install/share \
     -DBUILD_TESTING=OFF

5. Push to the device & Install

   cd `<qirp_decompressed_workspace>/qirp-sdk/ros_ws/install`
   tar czvf qrb_ros_manipulator.tar.gz lib share
   scp qrb_ros_manipulator.tar.gz root@[ip-addr]:/opt/
   ssh root@[ip-addr]
   (ssh) tar -zxf /opt/qrb_ros_manipulator.tar.gz -C /opt/qcom/qirp-sdk/usr/

Run

This package supports running it directly from the command or by dynamically adding it to the ros2 component container.

a.Run with command

1. Source this file to set up the environment on your device:

   ssh root@[ip-addr]
   (ssh) export HOME=/opt
   (ssh) source /opt/qcom/qirp-sdk/qirp-setup.sh
   (ssh) export ROS_DOMAIN_ID=xx
   (ssh) source /usr/bin/ros_setup.bash

2. Use this command to run this package

   (ssh)  ros2 launch qrb_ros_manipulator  manipulator_controller.launch.py

Acceleration

N/A

Packages

Will update in the future.

Resources

• ROS2 Type Adaption

Contributions

Thanks for your interest in contributing to qrb_ros_manipulator! Please read our Contributions Page for more information on contributing features or bug fixes. We look forward to your participation!

License

qrb_ros_manipulator is licensed under the BSD-3-clause "New" or "Revised" License.

Check out the LICENSE for more details.