README.md

brc_arm_ws

• Workspace for robot arm subteam Moveit2 development
• Runs on ROS2 Humble with Moveit Humble on Ubuntu 22.04 LTS
• Should be ran on a powerful computer (base station or jetson)
• BRC arm specific packages found here and implemented as submodules

Installation (For base Moveit2):

1. Install Ubuntu 22.04 LTS (Virtual machine, WSL2, or bare metal) and ROS2 Humble
2. Clone this repository, it will serve as the workspace as well
3. Run git submodule init and git submodule update to finish cloning the repository
4. Follow the steps listed in this Moveit2 tutorial
   • Skip steps "Create A Colcon Workspace and Download Tutorials", and "Download Source Code of MoveIt and the Tutorials"
   • Run colcon build --packages-skip-regex brc_arm_[a-zA-Z]+ --mixin release until the code compiles
     • This may need to be ran multiple times, --parallel-workers 1 argument may be needed if limited on ram
     • If one package is taking a long time, try building it individualy: colcon build --packages-select <package_name> --mixin release
5. Follow this tutorial and ensure Moveit2 has been installed correctly
6. Compile all files, including brc_arm packages using colcon build --mixin release