Giskardpy_ros

A motion control framework for ROS2 implemented using Giskardpy.

Installation instructions for Ubuntu 24.04 + Jazzy

ROS Workspace

First, install Giskardpy and switch to your virtual env.

workon giskardpy

Setup workspace

source /opt/ros/$ROS_DISTRO/setup.bash
mkdir -p ~/giskard_ws/src && cd ~/giskard_ws
colcon build
cd src
git clone https://github.com/SemRoCo/giskardpy_ros.git -b ros2-jazzy-main
cd ..
vcs import src < src/giskardpy_ros/$ROS_DISTRO.repos 
rosdep update --rosdistro=$ROS_DISTRO
sudo apt-get update
rosdep install --from-paths ./ -i -y --rosdistro ${ROS_DISTRO}
colcon build --merge-install --symlink-install
source ~/giskard_ws/install/setup.bash

Tutorials

https://github.com/SemRoCo/giskardpy/wiki

How to cite

@phdthesis{stelter25giskard,
	author = {Simon Stelter},
	title = {A Robot-Agnostic Kinematic Control Framework: Task Composition via Motion Statecharts and Linear Model Predictive Control},
	year = {2025},
	doi = {10.26092/elib/3743},	
}