HSR ROS2 Simulator Manual

• 1. Simulator Environment Setup
  • 1.1. Installing ROS2 and required tools
  • 1.2. Create Workspace for Simulation
  • 1.3. Simulator Verification
• 2. Starting Development
  • 2.1. Simulator Startup
• 3. Using the Python Interface
  • 3.1. About the Python Interface
  • 3.2. Joint Control
  • 3.3. Base Control
  • 3.4. Speech Synthesis
• 4. Using MoveIt2
  • 4.1. Using MoveIt2
• 5. Using Nav2
  • 5.1. The Simulator
• 6. Execution of Pick & Place Sample Code Integrating Object Recognition and Grasp Pose Estimation
  • 6.1. Overview
  • 6.2. Running on the Simulator
• 7. HSR Operation Using Tools
  • 7.1. Control Using a DUALSHOCK®
• 8. Reference
  • 8.1. ROS API