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Setup

Hardware Setup Instructions​

NOTE: Configurator and the rest of the high-level software stack is presently only compatible with Python.

Clone The giraffe Repository​

git clone https://github.com/carpit680/giraffe.git
cd giraffe

Install Dependencies​

pip install -r requirements.txt
pip install .

Setup Permissions​

sudo usermod -a -G dialout $USER
sudo newgrp dialout

Setup Servo IDs​

Use the configurator script in scripts/ directory

python3 scripts/st_configurator.py

Optional ROS2 Docker Development Environment Setup​

Follow the instructions given here to set up a ROS2 Docker development environment: ros2_docker_env

ROS2 Worksapce Setup​

  1. Install ROS2 Humble following these installation instructions.

  2. Install Gazebo Ignition Fortress(LTS) following these instructions.

  3. Install Moveit 2

    # Install MoveIt 2 for ROS 2 Humble
    sudo apt update
    sudo apt install -y ros-humble-moveit

  4. Install other dependencies

    sudo apt install -y ros-humble-ros2-control ros-humble-ros2-controllers
    sudo apt install -y python3-colcon-common-extensions python3-rosdep

  5. Set Up giraffe_ws

    # Clone giraffe repository if you have not done so already

    # Update dependencies using rosdep
    cd <path-to-giraffe-repo>/giraffe_ws
    sudo rosdep init  # Only if not already initialized
    rosdep update
    rosdep install --from-paths src --ignore-src -r -y

  6. Build and source the workspace

    cd <path-to-giraffe-repo>/giraffe_ws
    colcon build --symlink-install

    source install/local_setup.zsh
    # OR
    source install/local_setup.bash

For Hardware Assembly