Aubo Robot ROS2

Compatibility

Supported OS	Supported ROS2 distribution
Ubuntu 24.04	Jazzy

AUBO ARCS Teachpendant Version	AUBO ARCS Hardware Version	AUBO ARCS SDK Version
0.29.3-rc.6+2a9b2c1	1.0.43-rc.5+f2bfa19	V0.23.1

Getting Started

This project was developed for ROS2 Jazzy on Ubuntu 24.04. Other versions of Ubuntu and ROS2 may work, but not supported.

1. Install ROS2 Jazzy

2. Install colcon and additional ROS packages:

   sudo apt install -y \
   python3-colcon-common-extensions \
   python3-rosdep2 \
   libeigen3-dev \
   ros-jazzy-xacro \
   ros-jazzy-moveit* \
   ros-jazzy-joint-state-publisher \
   ros-jazzy-joint-state-publisher-gui \
   ros-jazzy-robot-state-publisher \
   ros-jazzy-rviz2

3. Setup workspace:

   mkdir -p ~/aubo_ros2_ws/src
   cd ~/aubo_ros2_ws/src
   git clone -b jazzy-arcs https://github.com/XieShaosong/aubo_robot_ros2.git
   cd aubo_robot_ros2/

4. Install dependencies:

   cd ~/aubo_ros2_ws
   rosdep update
   rosdep install --from-paths src --ignore-src --rosdistro jazzy -r -y

5. Build and source the workspace:

   cd ~/aubo_ros2_ws
   source /opt/ros/jazzy/setup.bash
   colcon build --symlink-install
   source install/setup.bash

NOTE: Remember to source the setup file and the workspace whenever a new terminal is opened:

source /opt/ros/jazzy/setup.bash
source ~/aubo_ros2_ws/install/setup.bash

Usage

Using MoveIt

You can also run the MoveIt example and use the MotionPlanning plugin in RViZ to start planning:

ros2 launch aubo_ros2_jazzy_moveit_config aubo_moveit.launch.py robot_ip:=[robot ip]
ros2 topic pub --once /aubo_robot/robot_control std_msgs/msg/String 'data: powerOn'

Test sim:

ros2 launch  aubo_ros2_jazzy_moveit_config aubo_moveit_sim.launch.py