aegis_ros

A complete suite of ROS 2 packages for the Aegis UR5e cobot station.

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List of packages

• aegis: The meta-package for referencing all project dependencies.
• aegis_control: Launch files dedicated to the hardware drivers based on the ros2_control framework.
• aegis_bringup: The main launch file.
• aegis_description: The description and configuration files of the Aegis robot station.
• aegis_moveit_config: The configuration to run the MoveIt 2 framework.

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Quick start

Create workspace

mkdir -p ~/ceai_ws
cd ~/ceai_ws
git clone -b humble-devel https://github.com/AGH-CEAI/aegis_ros.git src/aegis_ros

Containers

Tip

Check the aegis_docker repository for the Dockerfile.

Docker

cd ~/ceai_ws/src/aegis_docker
docker build . -t ceai/aegis_dev:latest
#TODO add more examples

Podman & Toolbx

cd ~/ceai_ws/src/aegis_docker
podman build . -t ceai/aegis_dev:latest
toolbox create --image localhost/ceai/aegis_dev:latest
toolbox enter aegis_dev-latest

Resolving dependencies and build

source /opt/ros/humble/setup.bash
rosdep init

cd ~/ceai_ws
vcs import src < src/aegis_ros/aegis/aegis.repos
rosdep update --rosdistro $ROS_DISTRO
rosdep install --from-paths src -y -i
colcon build --symlink-install
source ./install/local_setup.bash

Run

See the aegis_bringup package.

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Development notes

This project uses various tools for aiding the quality of the source code. Currently most of them are executed by the pre-commit. Please make sure to enable its hooks:

pre-commit install

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License

This repository is licensed under the Apache 2.0, see LICENSE for details.