Collaborative-Robotic-Sanding

The CRS (Collaborative Robotic Sanding) Application buit in ROS2 eloquent

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Workspace Setup

Download source dependencies

• Install wstool
• cd into your colcon workspace root directory
• Run wstool as follows

  wstool init src src/collaborative-robotic-sanding/crs.rosinstall
  wstool update -t src
  

Download debian dependences

• Install rosdep
• From the root directory of your workspace run the following:

  rosdep install --from-path src --ignore-src
  

Download additional resources

• ros-eloquent-launch-xml

  sudo apt install ros-eloquent-launch-xml
  

  This allows using xml formatted launch files

• colcon mixin:

  sudo apt install python3-colcon-mixin
  

  This is used for skipping select packages during a build, more on this later

• QT5 is a dependency of ros_scxml therefore follow the instructions provided here

Ignore select packages from colcon build

• Objective: Since some of the source dependencies in this workspace will have a mixture of ROS1 and ROS2 packages then these instructions will allow ignoring the ROS1/catkin packages from the build.
• Requirements: It is required that for a package to be ignored it must be listed in a skip.mixin json file inside the parent repository. The file has the following structure:

  {
    "build": {
      "skip": {
        "packages-skip": ["ros1_pkg1",
                          "ros1_pkg2",
                          "moveit_ros1",
                          ],
      }
    }
  }
  

• Steps:
  • Download the following script into your workspace root directory

    wget https://raw.githubusercontent.com/jrgnicho/ros_development_config/master/general/colcon_ws_setup.py
    

  • Run the script

    python3 colcon_ws_setup.py
    

  • Build the colcon workspace

    colcon build --symlink-install --mixin skip
    

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Running Application

• See the instructions here