A repository for everything Solo related developed on FTN
First thing to install is definitely ROS2. To do so, follow the instructions here
First of all let's create ROS2 workspace and clone the repositories needed
export INSTALL_DIR=<give_him_some_name>
mkdir -p $INSTALL_DIR/src
cd $INSTALL_DIR/src
git clone git@github.com:ajsmilutin/robot_properties_solo.git
git clone git@github.com:ajsmilutin/ftn_solo.git
cd ..
Then let's install the python dependencies:
sudo apt-get install python3-virtualenv
virtualenv solo_env
source solo_env/bin/activate
pip install -r src/ftn_solo/requirements.txt
touch solo_env/COLCON_IGNORE
Let's now compile (twice) and run some demo!:
source /opt/ros/humble/setup.bash
colcon build && source install/setup.bash
# HACK! We need 2 compiles of robot_propperties_solo
colcon build --packages-select robot_properties_solo && source install/setup.bash
ros2 launch ftn_solo robot_launch.py hardware:=mujoco task:=joint_spline
And you should be able to see something like this:
