Environment Dependencies

Before starting, please ensure that your system meets the following requirements:

• Operating System: Ubuntu 22.04 LTS
• ROS2 Distribution: Humble
• Gazebo: For physical simulation
• MoveIt2: For path planning
• Other dependent packages: Such as ros2-control , ros2-controllers , plugins, etc.
• Python: 3.10

Environment Installation Steps

1. Install ROS2 Humble

If you have not installed ROS2 Humble yet, please refer to the ROS2 official documentation.

2. Install Gazebo

To support physical simulation, you need to install Gazebo and its related ROS2 packages:

sudo apt install ros-humble-gazebo-ros-pkgs

3. Install MoveIt2

Install MoveIt2 to achieve path planning functionality:

sudo apt install ros-humble-moveit*

4. Install Controller Related Packages

Install ROS2 control and controller packages to interact with the robotic arm:

sudo apt install ros-humble-ros2-control ros-humble-ros2-controllers

5. Install Plugins

Install some additional plugins to enhance functionality:

sudo apt install ros-humble-joint-state-publisher-gui
sudo apt install ros-humble-gazebo-ros2-control
# sudo apt install ros-humble-tf-transformations