README.en.md

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crane_x7_ros

ROS 2 package suite of CRANE-X7.

Table of Contents

• crane_x7_ros
  • Table of Contents
  • Supported ROS 2 distributions
    • ROS 1
  • Requirements
  • Installation
    • Build from source
  • Quick Start
  • Packages
  • License

Supported ROS 2 distributions

• Foxy
• Humble
• Jazzy

ROS 1

• Melodic
• Noetic

Requirements

• CRANE-X7
  • Product Introduction
  • Web Shop
• Linux OS
  • Ubuntu 24.04
• ROS
  • Jazzy

Installation

Build from source

# Download crane_x7 repositories
$ mkdir -p ~/ros2_ws/src
$ cd ~/ros2_ws/src
$ git clone -b $ROS_DISTRO /~https://github.com/rt-net/crane_x7_ros.git
$ git clone -b $ROS_DISTRO /~https://github.com/rt-net/crane_x7_description.git

# Install dependencies
$ rosdep install -r -y -i --from-paths .

# Build & Install
$ cd ~/ros2_ws
$ colcon build --symlink-install
$ source ~/ros2_ws/install/setup.bash

Quick Start

# Connect CRANE-X7 to PC, then
$ source ~/ros2_ws/install/setup.bash
$ ros2 launch crane_x7_examples demo.launch.py port_name:=/dev/ttyUSB0

# Terminal 2
$ source ~/ros2_ws/install/setup.bash
$ ros2 launch crane_x7_examples example.launch.py example:='gripper_control'

# Press [Ctrl-c] to terminate.

Please refer to crane_x7_examples for details.

Packages

• crane_x7_control
  • README
  • This package includes a hardware driver for CRANE-X7.
• crane_x7_examples
  • README
  • This package includes example codes for CRANE-X7.
• crane_x7_gazebo
  • README
  • This package includes Gazebo simulation environments for CRANE-X7.
• crane_x7_moveit_config
  • README
  • This package includes configuration files for moveit2.
• crane_x7_description (external package)
  • README
  • This package includes a model data (xacro) of CRANE-X7.

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License

(C) 2018 RT Corporation <support@rt-net.jp>

This repository is licensed under the Apache License, Version 2.0, see LICENSE.
Unless attributed otherwise, everything in this repository is under the Apache License, Version 2.0.

The crane_x7_ros depends on crane_x7_description package. The RT Corporation's NON-COMMERCIAL LICENSE applies to the package.