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[AN] (fix) Easier Installtion Process

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Ali 2025-05-28 04:58:57 +02:00
parent 09644709f9
commit 3c16c02deb
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3 changed files with 12 additions and 34 deletions
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43
README.md
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@ -59,7 +59,7 @@ docker build -t ros2_humble:latest ROS 2_Humble
After all the containers are successfully built and the bridge network is established we can now start both containers. On one terminal run the following command to start the URSim container After all the containers are successfully built and the bridge network is established we can now start both containers. On one terminal run the following command to start the URSim container
```bash ```bash
docker run -it --rm -p 6080:6080 --network ros_ursim ursim:latest docker run -it --name URSIM -p 6080:6080 -p50002:50002 --network ros_ursim ursim:latest
``` ```
When successfully started this container will print its IP address in the terminal. Note this down: When successfully started this container will print its IP address in the terminal. Note this down:
@ -73,12 +73,12 @@ IP address of the simulator
On another terminal run On another terminal run
``` ```
docker run -it --rm --network ros_ursim ros2_humble:latest docker run -it --name ROS --network ros_ursim -p50002:50002 -p8000:8000 -p7000:7000 -p5005:5005 ros2_humble:latest
``` ```
Also note the IP address, using `hostname` Also note the IP address, using `hostname`
``` ```
hostname -i hostname -I
``` ```
With both containers running we can now open the URSim interface on any browser by going to this address: With both containers running we can now open the URSim interface on any browser by going to this address:
@ -98,7 +98,7 @@ source /opt/ros/humble/setup.bash
Next, launch the driver for communication with the UR simulation, with the IP address of the UR container Next, launch the driver for communication with the UR simulation, with the IP address of the UR container
``` ```
ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur10e robot_ip:=<ur.controller.ip.address> ros2 launch ur_robot_driver ur10e.launch.py robot_ip:=<ur.controller.ip.address>
``` ```
Now, from the VNC interface, we can start the external control program by clicking on the play button in the bottom right of the screen. Now, from the VNC interface, we can start the external control program by clicking on the play button in the bottom right of the screen.
@ -112,7 +112,7 @@ docker ps
Use the appropriate container ID to launch bash within that container. We need the container ID of the ros2_humble container. Use the appropriate container ID to launch bash within that container. We need the container ID of the ros2_humble container.
``` ```
docker exec -it <container_id> /bin/bash docker exec -it ROS /bin/bash
``` ```
Once inside, we again must source the ROS 2 environment Once inside, we again must source the ROS 2 environment
@ -135,32 +135,9 @@ If everything worked, this should either move the robot or complain about it bei
source /opt/ros/humble/setup.bash source /opt/ros/humble/setup.bash
``` ```
2. **Install Required Python Libraries** 2. **Build the Workspace**
```bash ```bash
pip install osc4py3 cd workspace
```
```bash
pip install numpy==1.22.4 scipy==1.7.3 spatialmath-python==1.1.14 roboticstoolbox-python==1.1.1 osc4py3
```
if an error occurs during installation run:
```bash
python3 -m pip install --upgrade pip setuptools wheel
```
and try again.
If you don't have pip installed run
```bash
sudo apt update
sudo apt install python3-pip
```
3. **Clone and Build the Workspace**
```bash
git clone <this_repo>
cd ba-alexanderschaefer/workspace
colcon build colcon build
source install/setup.bash source install/setup.bash
``` ```
@ -176,9 +153,9 @@ workspace/
4. **Run the Interface** 4. **Run the Interface**
```bash ```bash
ros2 run osc_ros2 interface ros2 run osc_ros2 interface
``` ```
--- ---
@ -255,4 +232,4 @@ An example patch in PureData is provided (`/workspace/src/6_DOF_example.pd`) tha
[^1]: [What is Docker?](https://docs.docker.com/get-started/) [^1]: [What is Docker?](https://docs.docker.com/get-started/)
[^2]: [WSL2 & Docker Networking](https://stackoverflow.com/questions/65426891) [^2]: [WSL2 & Docker Networking](https://stackoverflow.com/questions/65426891)
[^3]: [Cisco VPN and WSL2](https://github.com/Microsoft/WSL/issues/4277) [^3]: [Cisco VPN and WSL2](https://github.com/Microsoft/WSL/issues/4277)

3
ROS2_humble/Dockerfile
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@ -2,4 +2,5 @@ FROM osrf/ros:humble-desktop-full
RUN apt-get -y update RUN apt-get -y update
RUN apt-get -y upgrade RUN apt-get -y upgrade
RUN apt-get -y install ros-humble-ur ros-humble-ros2controlcli nmap neovim tmux git nano iproute2 inetutils-ping RUN apt-get -y install ros-humble-ur ros-humble-ros2controlcli nmap neovim tmux git nano iproute2 inetutils-ping python3-pip
RUN pip install numpy scipy spatialmath-python roboticstoolbox-python osc4py3

0
ur10e.urdf → workspace/ur10e.urdf
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