ExoForce

Setup

Tested on Ubuntu 20.04

• install python>=3.6
• install pybullet
• install ROS2 Foxy Fitzroy

# Creating ROS2 workspace
mkdir -p roboy_ws/src

# Cloning repos to src directory
cd roboy_ws/src
git clone https://github.com/Roboy/roboy3_models.git -b bullet
git clone https://github.com/Roboy/roboy_communication.git -b dashing
git clone https://github.com/Roboy/bulletroboy.git -b exoforce

# Building packages in workspace
cd roboy_ws
source /opt/ros/foxy/setup.bash
colcon build --symlink-install --packages-select bulletroboy roboy_simulation_msgs roboy_control_msgs roboy_middleware_msgs

# Sourcing workspace overlay (ROS2 Wiki recommends opening a new terminal before this step)
source /opt/ros/foxy/setup.bash
cd roboy_ws
. install/setup.bash

Usage

To be able to run any node after the package is built, you need to source the workspace overlay.

Run the system with the operator simulation.

ros2 launch bulletroboy cage_sim.launch.py  # use -s to list arguments

Run the system with the real exoforce cage.

ros2 launch bulletroboy exoforce.launch.py # use -s to list arguments