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ROS1_BRIDGE_BUILD_INSTRUCTIONS.md

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Hardware Setup

This application works on the Universal UR10 robot, as of now the ROS2 driver is not available therefore it is necessary to use the ROS1 bridge to allow the ROS1 robot driver to communicate with the ROS2 application

Requirements

ROS1

Catkin

Wstool

Setting up Wokrspaces

ROS1 Workspace

This workspace contains the robot driver node and a few other essential componets

  • Create a crs_ros1_ws ROS 1 workspace directory 
    source /opt/ros/melodic/setup.bash    # Source ROS1
mkdir -p ~/crs_ros1_ws/src            # Make a new workspace and source directory
cd ~/crs_ros1_ws/                     # Navigate to the workspace root
catkin init                           # Initialize it

    More info on catkin workspaces here

  • Clone the collaborative-robotic-sanding-ros1 repository 
    cd ~/crs_ros1_ws/src
git clone https://github.com/swri-robotics/collaborative-robotic-sanding-ros1.git
  • Download source dependencies with wstool 
    cd ~/crs_ros1_ws/
wstool init src src/collaborative-robotic-sanding-ros1/crs.rosinstall
  • Downlad debian dependences 
    rosdep install --from-path src --ignore-src -ry

    You'll need admin priviledges to install

  • Build with catkin 
    catkin build

ROS1 Bridge Workspace

This workspace contains the bridge implementation, it allows the ROS1 and ROS2 application to communicate.

WARNING!!! : *It is requried that the ROS1 amd ROS2 workspaces have been built prior to building the bridge

  • Create another workspace for the bridge 
    source /opt/ros/melodic/setup.bash    # Source ROS1
source /opt/ros/eloquent/setup.bash   # Source ROS2
mkdir -p ~/crs_ros_bridge_ws/src            # Make a new workspace and source space
cd ~/crs_ros_bridge_ws/                     # Navigate to the workspace root
  • Clone the bridge repository 
    cd ~/crs_ros_bridge_ws/src                   
git clone https://github.com/swri-robotics/crs_ros_bridge_ws.git
  • Download source dependencies 
    cd ~/crs_ros_bridge_ws/
wstool init src src/crs_ros_bridge_ws/crs.rosinstall
  • Downlad debian dependences 
    rosdep install --from-path src --ignore-src -ry

    You'll need admin priviledges to install

  • Overlay CRS ROS1 and ROS2 workspaces !!!It is assumed that your ROS2 workspace is located in the ~/crs_ws/ directory
  • Source the workspaces in the following order 
    source ~/crs_ros1_ws/devel/setup.bash
source ~/crs_ws/install/local_setup.bash
colcon build --symlink-install