Linux system environment
The system 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_x1_ros2 package.
mercury_x1_ros2 is a ROS2 package launched by Elephant Robot for its Mercury X1 series robotic arms.
ROS2 project address: http://github.com/elephantrobotics/mercury_x1_ros2
Robotic arm API driver library address: https://github.com/elephantrobotics/pymycobot
1 Update mercury_x1_ros2 package
In order to ensure that users can use the latest official packages in a timely manner, you can enter the /home/er folder through the file manager, open the ROS2 environment terminal, and then run the command update:
# Clone the code on github
git clone https://github.com/elephantrobotics/mercury_x1_ros2.git # Please check the attention section below before deciding whether to execute this command
cd ~/mercury_x1_ros2 # 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
# Compile the function package separately:
# If you only compile "turn_on_mercury_robot", you need to execute the command:
colcon build --packages-select turn_on_mercury_robot
Note: If the mercury_x1_ros2 folder already exists in the /home/er directory, you need to delete the original mercury_x1_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