testbed_ros

---

A collection of ROS2 packages for the ODRI Dual Motor Test Bed

ROS version	Branch
ROS2	ros2
ROS1	ros1

📝 Table of Contents

• About
• Getting Started
• Usage
• Feature requests
• Contributing
• Author
• Acknowledgments

🧐 About

This repository contains ROS2 packages for the Open Dynamic Robot Initiative Dual Motor Test Bed. It is based on odri_dual_motor_testbed_robot.

It is currently composed of the follwing packages:

• testbed_control: ros2_control algorithms for the Test Bed.

• testbed_description: XACRO/URDF, meshes and launch files for loading and debugging.

• testbed_gazebo: integration with Gazebo (modern/Ignition).

• testbed_hw: hardware integration based on ros2_hardware_interface_odri

🏁 Getting Started

This repo is composed by a collection of ROS2 packages.

🛠 Prerequisites

• A ROS2 workspace (colcon)
  • See this tutorial to learn how to create your own workspace.
• IMPORTANT: elevated privileges
  • If you plan on using the real hardware (ODRI Master Board), it communicates with the host computer using network interfaces (Ethernet or WiFi), which in turn requires elevated privileges.
  • Running only the hardware interface nodes using sudo will cause another problem: the ROS2 network will not work properly due to DDS user isolation.
  • Thus, the easiest and recommended workaround is to run the packages as root. Development is made using Docker, which enables this configuration using the Dockerfile command below:

USER root

💻 Installing

As mentioned above, this repo contains multiple ROS2 packages. Thus, you simply have to clone it inside your workspace's src directory, making sure to use the ros2 branch.

cd <path_to_your_ros2_ws>/src
git clone -b ros2 https://github.com/leggedrobotics-usp/testbed_ros.git

Then, use colcon to build.

cd <path_to_your_ros2_ws>
colcon build --symlink-install

🎈 Usage

Most packages have launch files encompassing their features. Check individual README files when available for more detailed information.

🔋 Feature requests

Want something more for the ODRI Dual Motor Test Bed? Open an Enhancement issue describing it.

🤝 Contributing

• Fork the repo
  • https://github.com/leggedrobotics-usp/testbed_ros/fork
• Check out a new branch based and name it to what you intend to do:

  • git checkout -b BRANCH_NAME

• Commit your changes
  • Please provide a git message that explains what you've done;
  • Commit to the forked repository.

    git commit -m "A short and relevant message"

• Push to the branch

  • git push origin BRANCH_NAME

• Make a pull request!

✍️ Author

_{Victor T. N. 🤖}

Made with ❤️ by @Vtn21

🎉 Acknowledgements

_{Open Dynamic Robot Initiative}

Designers of the Dual Motor Test Bed