Physical AI PubSub Package

日本語版

A ROS2 package for example publisher/subscriber communication with the CRANE+ V2 robot.

Features

• Joint state monitoring via subscriber
• Robot movement control via publisher

Installation

1. Setup Environment

Follow https://github.com/AI-Robot-Book-Humble/docker-ros2-desktop-ai-robot-book-humble to setup the Docker environment Launch CRANE+ V2 manipulator in Gazebo by running

ros2 launch crane_plus_gazebo crane_plus_with_table.launch.py

2. Clone this repository into your ROS2 workspace:

cd ~/pai_ws/src
git clone https://github.com/matsuolab/physicalai_pubsub.git

3. Install dependencies:

cd ~/pai_ws
rosdep install --from-paths src --ignore-src -r -y

4. Build the package:

colcon build --symlink-install --packages-select physicalai_pubsub

5. Source your workspace:

source install/setup.bash

Usage

State Subscriber

To monitor joint states:

ros2 run physicalai_pubsub state_subscriber

Action Publisher

To execute a sequence of movements:

ros2 run physicalai_pubsub action_publisher

License

This software is licensed under the MIT License. See the LICENSE file for details.

Author

Tatsuya Kamijo