h12_ros2_model

ROS2 package of h12 robot description.

File

• Robot description files (URDFs, SRDFs) and meshes are sourced from the parent HAMS repo's top-level assets/ directory. They are pulled in at build time by setup.py and installed under the package's share/ tree, so consumers can keep using package://h12_ros2_model/assets/h1_2/... URLs and the runtime layout is unchanged.
• The default robot is the H1-2 with Magpie eflesh grippers (assets/h1_2/h1_2_magpie_ros.urdf, sourced from assets/ros_assets/h1_2_magpie_ros.urdf). A handless variant is also available — selectable via the model:=handless launch argument.

Not standalone-buildable. This package must live at <HAMS>/core_ws/src/h12_ros2_model so that setup.py can resolve ../../../assets/. A bare clone outside that workspace will fail at build time with a clear error.

Dependencies

• This package depends on robot_description_publisher, joint_state_publisher and joint_state_publisher_gui

• Taking ros2 humble as an example, you can install these dependencies by:

  sudo apt install ros-humble-robot-state-publisher
  sudo apt install ros-humble-joint-state-publisher
  sudo apt install ros-humble-joint-state-publisher-gui

Usage

• Building this package in your workscape and all the assets will be available at run time.

  from ament_index_python.packages import get_package_share_directory
  
  package_path = get_package_share_directory('h12_ros2_model')
  print(f'Asset file: {package_path}/assets/{asset_file}')

• Running ros2 launch h12_ros2_model robot_description_launch.py will start the robot_state_publisher node, the joint_state_publisher_gui node and rviz to visualize the robot.

• In rviz, you can view the robot by adding a RobotModel visualization and subscribe to robot_description topic.

• On actual robot, you may want to implement your own joint state publisher to track the real joint positions.