Elephant Robotics Arms

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:

1. Update Windows graphics drivers
2. 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

3. Install XLaunch
4. sudo apt update && sudo apt upgrade
5. In powershell, wsl --shutdown
6. 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