Golitah is a semi industrial 6 dof robot arm
install ros humble >> https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debs.html
sudo apt install ros-humble-ros2_control*
detailed instructions will follow
mkdir -p goliath_ws/src
cd goliath/src
git clone https://github.com/bvdhaagen/goliath.git
cd ..
rosdep init
rosdep update
rosdep install --from-paths src -y --ignore-src
colcon build --symlink-install
source install/setup.bash
instructions will follow soon
sudo chmod 666 /dev/ttyACM0 && sudo chmod +x /dev/ttyACM0
ros2 launch goliath_controller goliath_controller.launch.py
- testline : ros2 topic pub /position_controller/commands std_msgs/msg/Float64MultiArray '{data: [0.0, -0.40, 1.0, 0.0, 0.5, 0.0]}' --once
instructions will follow soon
ros2 launch goliath_moveit demo.launch.py