GH360 Packages for ROS2 Foxy

Setup

ROS Noetic Workspace

• Install ROS Noetic and create a workspace with the name gh360_ws
• Clone the gh360_control package into the gh360_ws/src/
• Build the workspace
• Install pyserial:

  pip install pyserial
  

• Install rosserial_python:

  sudo apt install ros-noetic-rosserial-python
  

• Give permission to communicate with serial devices:

  sudo gpasswd --add ${USER} dialout
  

• Restart Ubuntu

You can test if this part of the installation worked by connecting the USB cable of the arm and running the following commands:

source gh360_ws/devel/setup.bash
roslaunch gh360_control encoder_manager.launch

In another terminal run:

source gh360_ws/devel/setup.bash
rostopic list

You should see the following topics: /arm1/Shoulder_Encoders, /arm1/UpperArm_Encoders, /arm1/LowerArm_Encoders

ROS Foxy Workspace

• Install ROS2 Foxy and create a workspace with the name ros2_gh360_ws
• Clone the following packages into ros2_gh360_ws/src:
  • DynamixelSDK
  • gh360
  • ros2_aruco
  • realsense-ros
  • rosbag2
• Install Realsense SDK (including developer and debug packages)
• Install xacro package:

  sudo apt install ros-foxy-xacro
  

• Install Joint State Publisher package:

  sudo apt install ros-foxy-joint-state-publisher
  

• Install scipy:

  pip install scipy
  

• Install opencv version 4.7.0.72:

  pip install opencv-python==4.7.0.72
  

• Install spacemouse library:

  pip install pyspacemouse
  sudo apt-get install libhidapi-dev
  sudo echo 'KERNEL=="hidraw*", SUBSYSTEM=="hidraw", MODE="0664", GROUP="plugdev"' | sudo tee /etc/udev/rules.d/99-hidraw-permissions.rules
  sudo usermod -aG plugdev $USER
  newgrp plugdev
  pip install easyhid
  

Stream Deck Setup

• Install the python library to use the streamdeck

  pip install streamdeck
  

• Install a HIDAPI Backend which is required by the python library
• Update ros and venv paths:

Realsense Camera Setup

ROS1 Bridge

• Create a workspace with the name bridge_ws.
• Clone the ros1_bridge package in the src folder.
• Follow the build from source instructions.

To test the ros bridge use the following commands:

• Terminal 1:

  source gh360_ws/devel/setup.bash
  roslaunch gh360_control encoder_manager.launch
  

• Terminal 2:

  source bridge_ws/install/setup.bash
  ros2 run ros1_bridge dynamic_bridge --bridge-all-topics
  

• Terminal 3:

  source ros2_gh360_ws/install/setup.bash
  ros2 topic list
  

In Terminal 3 you should see the following topics: /arm1/Shoulder_Encoders, /arm1/UpperArm_Encoders, /arm1/LowerArm_Encoders