LivelyStudio and LivelyTK ROS2 Wrapper
You need the following repositories in your workspace's src folder:
- tf2_web_republisher_py
git clone https://github.com/Wisc-HCI/tf2_web_republisher_py.git - rosbridge_suite (ros2 branch)
git clone -b ros2 https://github.com/RobotWebTools/rosbridge_suite.git
For robots, we are currently testing with the Franka Emika Panda, which has a description included here:
- moveit_resources (ros2 branch)
git clone -b ros2 https://github.com/ros-planning/moveit_resources.git
python3 -m pip install lively_ik_core scikit-learn numpy python-fcl urdf-parser-py
If you don't already have it, you will also need to Install Node.js.
After running colcon build on the workspace and sourcing, you will be able to launch the backend by executing:
ros2 launch lively_tk_ros lively_studio_backend.py
You will also need to launch the front-end application, which you can do by navigating to the gui directory of lively_ik:
cd src/lively_ik/lively_ik_gui/
and then
npm start
The application should be accessible at http://localhost:3000