Getting started with Tesseract in ROS2

[AmiQuijano]

Hello!

I would like to use Tesseract in ROS2 for motion planning and collision avoidance for a custom robot. I'm very excited to test this tool.
I'd like to ask:

• Is 'tesseract_ros2' the only repo I would need?
• Does it work in Ubuntu 22.04?
• Is there any available tutorial on how to load my custom robot, set goal, input octomap or mesh of obstacles, define cost functions and visualize the trajectory in ROS2?

Thank you very much!

[Levi-Armstrong]

• Is 'tesseract_ros2' the only repo I would need?
  • No, I recommend cloning all repositories in the dependencies_unstable.repos
• Does it work in Ubuntu 22.04?
  • Yes
• Is there any available tutorial on how to load my custom robot, set goal, input octomap or mesh of obstacles, define cost functions and visualize the trajectory in ROS2?
  • Do you have more details on your custom robot that you can provide? Depending on the arrangement there may be a plugin that already works. Also are you only needing to do freespace planning?

[AmiQuijano]

Thank you for the quick response.

• Do you have more details on your custom robot that you can provide? Depending on the arrangement there may be a plugin that already works.
  I’m using a custom 7 DoF manipulator and I have its urdf and meshes
• Also are you only needing to do freespace planning?
  Initially yes, but then I would like to do obstacle avoidance planning

[Levi-Armstrong]

In your case since you are only wanting to do freespace motion planning with collision avoidance I would take a look at the tesseract_examples freespace_hybrid_example.h. You will need to generate the srdf and the tesseract_plugins yaml file for your system.

[AmiQuijano]

Thank you for your answer.

Regarding the yaml file, do you have any examples?
I couldn't find any 'tesseract_plugins' on tesseract_ros2, tesseract, tesseract_qt, tesseract_planning or trajopt repos

[Levi-Armstrong]

In this directory you find the srdf and plugin yaml files for most if not all of the examples.