mkdir -p ~/wsr2/src
cd ~/wsr2/src
git clone https://gitlab.com/arcoslab/robot-hardware-firmware/arcos-lab-mobile-platform.git
cd
source ros2_setup.sh
cd ~/wsr2
colcon build
Note: In case you have write permission to this repository use the following command for cloning instead of the previous one:
git clone git@gitlab.com:arcoslab/robot-hardware-firmware/arcos-lab-mobile-platform.git
Downloading this repository may be necessary for two things:
mkdir -p ~/local/src/repos/gitlab/arcoslab/robot-hardware-firmware/open-coroco/
cd ~/local/src/repos/gitlab/arcoslab/robot-hardware-firmware/open-coroco/
git clone git@gitlab.com:arcoslab/robot-hardware-firmware/open-coroco/open-coroco-software.git
cd open-coroco-software
git checkout humanoid-platform
cd utils
sudo cp 50-opencoroco.rules /etc/udev/rules.d/
sudo udevadm control --reload
cd ..
cd python-opencoroco/
pip install -e .
Stop here for the simulating the robot
Continue if you want to reprogram the real open-coroco controllers (advanced) (only for real robot)
sudo apt-get install python3-serial
cd examples
./open-coroco-pc.py -d /dev/ttyOC0
cd ..
cd ..
sudo apt-get install gcc-arm-none-eabi
git submodule init
git submodule update
cd lib/libopencm3
make -j`nproc`
cd ../libopencm3-plus
make -j`nproc`
cd ../../
cd src/baldor_medium
make
make flash