Installation ROS2 package

Prerequisites

Make sure you have Ubuntu 24.04 LTS installed on your machine. Ideally, use a RT kernel for better performance.

Installation

1. Install the ROS2 distribution (current dev. based on ros2 jazzy). See the official documentation for ROS2 installation steps.

  1. Source the ROS2 environment:

source /opt/ros/jazzy/setup.bash

  1. Prepare the workspace and install dependencies

sudo apt install python3-colcon-common-extensions

mkdir ~/ros2_staubli_ws
cd ~/ros2_staubli_ws
git clone https://github.com/ICube-Robotics/staubli_driver_ros2.git src/staubli_driver_ros2

rosdep install --ignore-src --from-paths . -y -r

  1. Build stack

colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo

  1. Run automated tests (Optional)

colcon test && colcon test-result

  1. Source workspace

source install/setup.bash