In this repository I have implemented three ROS 2 (Humble) nodes. The allow to control a cable-driven soft arm that uses Dynamixel motors and an Optitrack motion capture system.
Use conda with robostack channel to install ROS 2 Humble.
cd <path-to-cables_controllers>
conda install --file conda_env.yml
Build using colcon:
cd <path-to-ros-ws>
colcon build --symlink-install
In four difference terminal activate the conda env and source ROS 2:
conda activate humble && source <path-to-ros-ws>/install.setup.bash
Run the different nodes separately, for Optitrack see optritrack_ros2:
- Terminal 1:
ros2 run cables_controllers low_level_controller_node. - Terminal 2:
ros2 run optitrack_ros2 optitrack_node - Terminal 3:
ros2 run cables_controllers reference_generator_node - Terminal 4:
ros2 run cables_controllers learned_controller_node
