adisha-ws

A ROS2 Humble Workspace for Adisha UMS robot development.

[1] Installation

To use this repository, you need to install several requirements.

Ubuntu 22.04, or any Linux distro that supports ROS2 Humble.
ROS2 Humble, this repository may also work on other ROS2 distros after a bit of configuration.
Dynamixel SDK, the Python part only.
NodeJS.

After installing all the requirements, you can go to the workspace directory and run adisha_setup.py on your terminal with:

python3 adisha_setup.py

This helps you with all the configurations needed, e.g. set the robot's ID, get the robot's IP in the local network, installing node_modules, etc.

Source the workspace setup.bash with:

source install/setup.bash

Before running the web app, one must generate the custome messages used in this workspace with:

cd src/adisha_interface/src/web
npx generate-ros-messages

Tip

To disable the warning occurs when building the workspace with colcon build, go to install.py at:

sudo nano /usr/lib/python3/dist-packages/setuptools/command/install.py

and comment the line 34.