Follow the cog_arch guide first
Install the following repositories:
cd ~/wsr2/src/
git clone -b v2.0sim git@gitlab.com:arcoslab/robot-hardware-firmware/collaborative-robot/arcos-lab-asimilar-platform-robot-descriptions.git || git clone -b v2.0sim https://gitlab.com/arcoslab/robot-hardware-firmware/collaborative-robot/arcos-lab-asimilar-platform-robot-descriptions.git
git clone -b v2.0sim git@gitlab.com:arcoslab/robot-hardware-firmware/collaborative-robot/arcos-lab-collaborative-robot-startup.git || git clone -b v2.0sim https://gitlab.com/arcoslab/robot-hardware-firmware/collaborative-robot/arcos-lab-collaborative-robot-startup.git
git clone -b v2.0sim git@gitlab.com:arcoslab/robot-hardware-firmware/collaborative-robot/arcos-lab-panda-robot-descriptions.git || git clone -b v2.0sim https://gitlab.com/arcoslab/robot-hardware-firmware/collaborative-robot/arcos-lab-panda-robot-descriptions
git clone -b v2.0sim git@gitlab.com:arcoslab/robot-hardware-firmware/drivers/ros2-panda-driver-topics.git || git clone -b v2.0sim https://gitlab.com/arcoslab/robot-hardware-firmware/drivers/ros2-panda-driver-topics.git
touch ros2-panda-driver-topics/ros2_panda_driver_topics/COLCON_IGNORE
touch ros2-panda-driver-topics/ros2_panda_driver_gripper_sim/COLCON_IGNORE
cd ~/wsr2/
colcon build
ros2 launch arcos-lab-asimilar-robot-startup arcos-lab-asimilar-robot-startup-sim.launch.py
Rviz runs automatically
Configure Rviz:
Run "block" emulator
ros2 run rbc_ct_xperience_asimilar block_sim --ros-args -r __ns:=/sim_asimilar_01 -r /sim_asimilar_01/sim_grasp_object/sim_ext_effort:=/sim_asimilar_01/gripper/sim_ext_effort -r /sim_asimilar_01/sim_grasp_object/state:=/sim_asimilar_01/gripper/state
ros2 service call /sim_asimilar_01/sim_grasp_object/enable impedance_control_msgs/srv/Simobject "enable: true"
ros2 run rbc_ct_xperience_asimilar rbc_ct_xperience_asimilar --ros-args -r __ns:=/sim_asimilar_01 -r /tf:=/sim_asimilar_01/tf -r /tf_static:=/sim_asimilar_01/tf_static
ros2 launch arcos-lab-asimilar-robot-startup arcos-lab-asimilar-robot-startup.launch.py
ros2 service call /asimilar/panda_arm/control impedance_control_msgs/srv/Modes "enable: [true, true, true, true, true, true, true, true]
mode: 0"
ros2 launch rbc rbc_asimilar.launch.py
ros2 launch arcos-lab-asimilar-robot-startup rs_ct_xperience.launch.py
ros2 run rbc_ct_xperience_asimilar rbc_ct_xperience_asimilar --ros-args -r __ns:=/asimilar -p "gripper_node_name:=panda_arm" -r /tf_static:=/asimilar/tf_static -r /tf:=/asimilar/tf