RISE Asset Description

This is a description package for ROS1 and ROS2, containing shared assets used by RISE LAB.

How to use

To build this package, you need to set up CMakeLists.txt and package.xml in your package. The following script will generate the appropriate CMakeLists.txt and package.xml for you. (Make sure to run chmod +x select_ros_version.sh first.)

For ROS2:

./select_ros_version.sh ros2
colcon build --symlink-install --packages-select rise_asset_description

For ROS1:

./select_ros_version.sh ros1
catkin_make --pkg rise_asset_description

Directory Structure

.
├── README.md
├── LICENSE
├── .gitignore
├── select_ros_version.sh   # Script to switch between ROS1 and ROS2
├── CMakeLists.txt          # Auto-generated by the `select_ros_version.sh`
├── package.xml             # Auto-generated by the `select_ros_version.sh`
├── ros1
│   ├── CMakeLists.ros1.txt
│   └── package.ros1.xml
├── ros2
│   ├── CMakeLists.ros2.txt
│   └── package.ros2.xml
├── launch
│   ├── display.launch      # ROS1-specific launch file
│   └── display.launch.py   # ROS2-specific launch file
├── rviz
│   └── display.rviz
└── assets
    ├── meshes              # Meshes
    │   ├── <asset_name 1>
    │   │   └── <mesh_name>.dae
    │   ├── <asset_name 2>
    │   │   └── <mesh_name>.stl
    │   ...
    └── xacro               # XACRO files
        ├── <asset_name 1>
        │   └── <urdf_name>.urdf.xacro
        ├── <asset_name 2>
        │   └── <urdf_name>.urdf.xacro
        ...

Testing with Docker

If you want to test the ROS2 version, use ros2 instead of ros1 in the following commands.

Step 1: Allow docker to access the X server and build the base image (only need to do this once)

xhost + local:docker
cd {THIS_PACKAGE_DIR}/test
docker build -t ros1-description -f ros1-description.Dockerfile .

Step 2: Run the test container

cd {THIS_PACKAGE_DIR}/ros1
docker compose up --build

Step 3: Set a proper Fixed Frame in your RViz window. For example, table_frame is used for honeycomb_table.

To clean up and remove the generated image, you can run:

docker compose down --rmi all