robocup_home_simulation

Robocup@Home simulation

Albert

Instructions to build the albert robot pkg (this process will be improved when releasing the albert pkg)

Clone albert repo to the workspace:

cd ~robocup_ws/src
git clone git@github.com:tud-airlab-ros2/albert_ros2_package.git -b mohamed

Install franka deps:

sudo apt install libpoco-dev
cd somewhereelse
git clone https://github.com/frankaemika/libfranka.git --recursive
cd libfranka
git checkout 0.13.2
git submodule update --init --recursive
mkdir build
cd build
cmake -DCMAKE_BUILD_TYPE=Release ..
cmake --build .
sudo make install

Build

Get repo:

mkdir -p ~/robocup_ws/src
cd ~/robocup_ws/
git clone git@github.com:kas-lab/robocup_home_simulation.git

Get github deps:

cd ~/robocup_ws/
vcs import src < robocup_home_simulation/simulation.rosinstall

Install deps:

cd ~/robocup_ws/
source /opt/ros/humble/setup.bash
rosdep install --from-paths src --ignore-src -r -y

Build package:

cd ~/robocup_ws
source /opt/ros/humble/setup.bash
colcon build --symlink-install

Run simulation

source install/setup.bash
ros2 launch robocup_home_simulation simulation.launch.py