za_ros

ROS integration for the Tormach ZA6 robot

DISCLAIMER: This is an UNOFFICIAL robot integration package. The author is not affliated with Tormach Inc..

Contents

• Installation
• Dependencies
• Running the Robot

Installation

Clone the repository to your local workspace. If you do not already have the za_description package, you will need to clone recursively.

mkdir catkin_ws/src && cd catkin_ws/src
git clone --recurse-submodules https://github.com/alexarbogast/za_ros.git

Build your workspace

catkin build

Dependencies

Running the physical robot requires the hal_hw_interface hardware interface. Users should follow the instructions at hal_ros_control for installation.

An easier route is to use a docker container from the image provided with the Za6 control computer. See za_docker for a Dockerfile and scripts that facilitate ROS development for the Za6.

If you are using this package for simulation purposes only, you will only need ros_control_boilerplate and ros_controllers to get started.

If you do not have these packages:

sudo apt update
sudo apt install ros-noetic-ros-control-boilerplate
sudo apt install ros-noetic-ros-controllers

Running the Robot

The za_robot package contains a set of launch files for running the Za6. See the README.md for usage details.