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GANTRY_ROBOT_CONTROL_ROS-

The purpose of this project is to create 3D gantry robot and control it via MoveIt2 in ROS2 (Humble) in C++. Overall control has been implemented over Behavior Trees.

Before running

  1. sudo apt install ros-humble-rmw-cyclonedds-cpp
  2. export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp (run this for each terminal you use for ROS2)
  3. Source the terminals you use by doing: source install/setup.bash

How to run

  1. In a terminal run: ros2 launch robot_moveit_config demo.launch.py
  2. In another terminal run: ros2 run robot_control robot_control_bt