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Tarik Viehmann edited this page Nov 23, 2024 · 5 revisions

Installation

Prerequisites

This driver was tested with the following ROS 2 versions:

  • humble
  • iron
  • jazzy

It further uses the RobotinoAPI2, hence the following packages are required(and can also found as .deb in this repository):

rec-rpc
robotino-api2
robotino-dev

Additionally, we recommend modifications to the rpcd service, which otherwise requires root permissions to access the hardware (e.g., to connect to it via this driver).

Grant robotio User Temporary Hardware Access

While the service is running, modify the permission of the temporary socket file to gain user permissions until restart:

sudo chown robotino:robotino /tmp/__REC__RPC__12080__
sudo chmod 777 /tmp/__REC__RPC__12080__

Grant robotio User Permanent Hardware Access

The service file is located in /etc/systemd/system/rpcd.service and by launching it as robotino user it resolves permission issues when connecting to it. Just add the following lines under the [Service] tag in this file:

User=robotino
Group=robotino

Then restart the service:

sudo systemctl daemon-reload
sudo systemctl restart rpcd.service

Source Installation

ATTENTION: These commands assume that you have created a workspace called "robotino_driver_ws" in your home directory. If you used a different directory or name, please adjust the commands accordingly.

After installing ROS2 and creating the workspace, clone this repository in your workspace:

mkdir -p ~/robotino_driver_ws/src
cd ~/robotino_driver_ws/src
git clone https://github.com/carologistics/robotino-driver.git

To build the workspace, run the following command in the root of your workspace:

cd ~/robotino_driver_ws
colcon build --symlink-install

Then, source the workspace by running the following command:

cd ~/robotino_driver_ws
source install/setup.bash
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