Download dependencies with the following code.
sudo apt install ros-humble-smach-ros
sudo apt install ros-humble-tf-transformations
pip3 install transforms3d
pip3 install dependency-injector
pip3 install simple_pid
- Build and source.
colcon build --symlink-install
source install/setup.bash
- Modify
/tasks/movement_test.py
as needed to configure state machine and associated movement tasks. - Launch cameras, sensors, etc.
- Launch base nodes needed for initialising controls stack. NOTE: To reset IMU drift, relaunch
base.launch.py
.
ros2 launch launch_files base.launch.py
- Launch movement test.
ros2 launch launch_files movement.launch.py
- Build and source.
colcon build --symlink-install
source install/setup.bash
- Modify
/simulation/movement_test_sim.py
as needed to configure state machine and associated movement tasks. - Launch simulation.
ros2 launch launch_files simulation.launch.py