IRLab Interfaces

ROS Metapackage for robot interfaces in Intelligent Robotics Lab at School of Computer Science, University of Birmingham, UK.

Setup Instructions

Docker setup (recommended method)

See instructions in the install branch.

Local installation

If you already have a ROS Melodic environment:

1. Install the following dependencies:

   1. libfranka and franka_ros (for melodic: sudo apt install ros-melodic-franka-ros ros-melodic-libfranka)

2. Clone this repository to the src directory of your catkin workspace (git clone -b melodic-devel https://github.com/IRLabUoB/irlab_interfaces).

   • Steps 3 and 4 can be automated by running ./build_ws.sh from <catkin_ws>/src/irlab_interfaces.

3. Update dependency packages:

       wstool init
       wstool merge irlab_interfaces/dependencies.rosinstall
       wstool up
   
       cd .. && rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO

4. Once the dependencies are met, the package can be installed using catkin:

    source /opt/ros/$ROS_DISTRO/setup.bash
    catkin build # if catkin not found, install catkin tools (apt install python-catkin-tools)
    source devel/setup.bash

Important Notes on Robot and Software Versions

IRLab Interfaces is written for specific versions of the robot firmware and driver software.