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Elephant Robotics Arms
HAL edited this page Sep 11, 2024
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This page is a work in progress!
When setting up the Elephant Robotics ROS2 Repo on a new computer, you will need to install the following:
sudo apt install ros-humble-joint-state-publisher
sudo apt install ros-humble-joint-state-publisher-gui
sudo apt install ros-humble-xacro
If you are having problems with the em
module:
pip install empy==3.3.4
Also, you will need to update the file pointed to in their "Troubleshooting" section.
If using ROS2 in WSL, you'll need to:
- Update Windows graphics drivers
- Add the following lines to your
.bashrc
export LIBGL_ALWAYS_INDIRECT=1
export DISPLAY=$(awk '/nameserver / {print $2; exit}' /etc/resolv.conf 2>/dev/null):0
- Install XLaunch
sudo apt update && sudo apt upgrade
- In powershell,
wsl --shutdown
- Launch the Windows xserver and check the Acess Displays box
Note about RViz: You will need to edit the typical Xserver env variables for Xforwarding. Run the following commands
export LIBGL_ALWAYS_INDIRECT=
export LIBGL_ALWAYS_SOFTWARE=1