Raspberry Pi system environment
The Raspberry Pi version comes with Ubuntu (V-20.04) system and built-in ROS2 Galactic development environment. There is no need to build and manage it. You only need to update the mercury_ros2 package.
mercury_ros2 is a ROS2 package launched by Elephant Robot for its Mercury series robotic arms.
ROS2 project address: http://github.com/elephantrobotics/mercury_ros2
Robotic arm API driver library address: https://github.com/elephantrobotics/pymycobot
1 Update mercury_ros2 package
In order to ensure that users can use the latest official packages in a timely manner, you can enter the /home/er/colcon_ws/src folder through the file manager, click the ROS2 Shell icon on the desktop or the corresponding icon in the lower bar of the desktop to open the ROS2 environment terminal:
Then run the command update:
# Clone the code on github
cd ~/colcon_ws/src
git clone https://github.com/elephantrobotics/mercury_ros2.git # Please check the attention section below before deciding whether to execute this command
cd ~/colcon_ws # Back to work area
colcon build --symlink-install # Build the code in the workspace, --symlink-install: Avoid having to recompile python scripts every time you adjust them
source install/setup.bash # add environment variables
Note: If the mercury_ros2 folder already exists in the /home/er/colcon_ws/src (equivalent to ~/colcon_ws/src) directory, you need to delete the original mercury_ros2 before executing the above command. Among them, er in the directory path is the user name of the system.
So far, the ROS2 environment construction has been completed.You can learn the basics of ROS2 or ROS2 use cases