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ROS package for Amber B1

What you will need

I assume that you have noetic & foxy & ros1_bridge on your PC

Steps to setting it up

After installing ros1_bridge and following some tutorials to get familiar with it. edit the static_bridge.cpp which is in (ros1_bridge_ws/src/ros1_bridge/src):

#include <trajectory_msgs/JointTrajectory.h>

std::string topic_name = "/position_trajectory_controller/joint_trajectory";

std::string ros1_type_name = "trajectory_msgs/JointTrajectory";

std::string ros2_type_name = "trajectory_msgs/msg/JointTrajectory";

here we are allowing only the /position_trajectory_controller/joint_trajectory topic to be bridged between noetic and foxy

rebuild the ros1_bridge and then source it

Steps to run it

On your amber b1 follow the normal procedure ( ros2_start.sh then b1.sh) On your PC:

  1. roslaunch amber_moveit_config demo.launch
  2. ros2 run ros1_bridge static_bridge
  3. rosrun amber_linking_node amber_link.py

Plan your move with moveit and press excute it should be excuted on your robot.:) If you have questions reach me on Instagram Shannak_M

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