ROS2 integration

  • To integrate into a ROS2 workspace, simply clone this repository into the src/ directory of your workspace.
  • Make sure to have the ros2_pollen_toolbox in the same workspace

  • Make sure to have ros2_rust setup.

    If its your first time using rust with ros Make sure to install: 
    pip install git+https://github.com/colcon/colcon-cargo.git
pip install git+https://github.com/colcon/colcon-ros-cargo.git

  • Make sure to use "patched version" of cargo-ament-built (see this PR for more details) 

    cargo install --debug --git https://github.com/jerry73204/cargo-ament-build.git  --branch conditionally-copy-cargo-lock-file

  • Update colcon-cargo with: python3 -m pip install --upgrade --force-reinstall git+https://github.com/pollen-robotics/colcon-cargo.git

Build the hwi

  • colcon build --symlink-install --packages-up-to orbita3d_system_hwi

Build the description

  • colcon build --symlink-install --packages-up-to orbita3d_description

  • See the orbita3d_description package for more details.