A tool to generate skeletons of robot applications, mission controllers, tasks and skills.
Relies on ROS 2 and the ROS 2 Intents interface.
rpk is written in python3.
Installation with pip
pip install rpk
Installation from source with pip
You require the following libraries:
pip install jinja2
You can install rpk as any other python package as follows:
pip install .
If the location where it is installed is not yet on your path, you will get a
warning which includes the path location where it has been installed. You need
to add this location to your path, e.g., in linux export PATH="$HOME/.local/bin:$PATH" or in windows use the GUI or command
line
Installation with ROS debian (only availabe in PAL Robotics docker images/robots)
sudo apt install pal-alum-rpk
The re-source /opt/pal/alum/setup.bash:
source /opt/pal/alum/setup.bash
Once you have installed rpk, you are ready to create new applications for your robots. To do so, you just have to run:
rpk create
... and follow the instructions!
It will create a ROS2 package ready to be run.
You're then ready to play with the application controller. Visit the PAL SDK documentation for further information.