Niryo One Ros2

IMPORTANT: This is not an official Niryo One ROS2 port!

However, this provides a fully functional ROS2 Stack for the Niryo One, although only the core functions have been ported. Feel free to contribute more.

This port added a few features, including:

• Full namespacing support
• Gripper controller (At the moment, command_interface is disabled)

Install

Clone the repository and build with colcon build

Usage

Start the driver with ros2 launch niryo_one_bringup start_sim.launch.py for simulation or ros2 launch niryo_one_bringup start_robot.launch.py for the actual robot. Namespace the driver by adding ns:=foo after the last argument

Currently, the User interface has not been ported, so the calibration and learning mode have to be called manually with the ROS2 service CLI.

• ros2 service call /niryo_one/calibrate_motors niryo_one_msgs/srv/SetInt "{value : 1}"
• ros2 service call /niryo_one/activate_learning_mode niryo_one_msgs/srv/SetInt "{value : 0}" (0 = disable)

Known Issues

• Gripper joint_state reading is off
• Very rarely niryo_one_hardware_interface plugin crashes on launch