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Welcome to the ws23-youbot-manipulation-ros2 wiki!

Installation & setup:

Use Ubuntu: 22.04 and ROS2 Rolling as base

1. Execute below commands to install dependencies

• apt update
• apt install -y gedit python3-pip ros-rolling-twist-mux ros-rolling-moveit ros-rolling-urg-node
• apt install ros-rolling-ros2-control ros-rolling-joint-state-publisher-gui

2. Install specified version of pip

• pip install setuptools==58.2.0

3. Create a new workspace

• mkdir -p /home/mir/src && cd /home/mir/src

4. Clone ROS packages

• git clone -b rolling https://github.com/b-it-bots/mas_industrial_robotics
• git clone -b ros2 https://github.com/mas-group/brics_actuator.git
• git clone -b foxy-devel https://github.com/mas-group/youbot_description.git
• git clone -b foxy-devel https://github.com/mas-group/youbot_driver.git
• git clone -b foxy-devel https://github.com/mas-group/youbot_driver_ros_interface.git

5. Source your ROS distibution

• . /opt/ros/rolling/setup.sh
• cd /home/mir

6. Build your colcon environment

• colcon build --executor sequential --parallel-workers 4
• export ROBOT=youbot-brsu-2
• source install/local_setup.bash

7. Launch youBot bringup:

• ros2 launch mir_bringup view_youbot.launch.py

8. In another terminal, run below commands

• . /opt/ros/rolling/setup.sh
• rviz2

9. Load rviz_conf into rviz

10. Installation & setup is completed, you can see the youBot model now and control it with joint state publisher