Sensable Omni models

This package can be used to launch a robot_state_publisher ROS 2 node with the URDF robot description loaded as a parameter. STL meshes can be found in the meshes directory. It also provides a Python script to publish a joint state and animate a pretend Omni.

Requirements

ROS 2 is required. This package has been tested on Ubuntu 20.04 with ROS 2 Galactic. You will also need a couple of extra packages that might not be installed by default:

sudo apt install ros-galactic-joint-state-publisher ros-galactic-xacro

Compilation

1. Create a ROS 2 workspace if you don't have one already: mkdir ~/ros2_ws
2. Create a source directory in your workspace if needed: mkdir ~/ros2_ws/src
3. Clone this repository under src: cd ~/ros2_ws/src; git clone https://github.com/jhu-saw/ros2_sensable_omni_model
4. Compile this package using colcon in the workspace:

cd ~/ros2_ws; colcon build --packages-select sensable_omni_model

Usage

# don't forget to source after first compilation
source ~/ros2_ws/install/setup.bash
# launch robot state publisher and load the robot description as a parameter
ros2 launch sensable_omni_model omni.launch.py
# to visualize the Omni in rviz...
rviz2 -d ~/ros2_ws/install/sensable_omni_model/share/sensable_omni_model/omni.rviz

To create a joint state trajectory from a pretend Omni dancing around, one can use the pretend_omni script provided in this repository

ros2 run sensable_omni_model pretend_omni_joint_state_publisher

At that point, the Omni in RViz should be moving around.

Todo:

• Support namespace. --ros-args --remap __ns:=/arm seems to work for pretend Omni`