Quick Demo (Public Path)¶

This guide gets you from a finished environment install to a moving robot using the public open-deploy-ws workspace.

Prerequisites¶

Ubuntu 24.04
ROS 2 Jazzy + rosdep already installed — do this first: Install Environment
Git with GitHub access

After clone, use ./init_repo.sh. After colcon build, source that workspace’s install/setup.bash in the terminal you launch from (standard ROS 2 overlay; open-deploy-ws has no extra env script).

Steps¶

1. Clone the Workspace¶

cd ~/
git clone https://github.com/fiveages-sim/open-deploy-ws.git
cd open-deploy-ws

2. Initialize Repository¶

Run the initialization script:

./init_repo.sh

The script will:

Configure submodule visibility (public only by default)
Prompt per core module for d (GitHub Release .deb) or s (source)
Sync selected source submodules, run rosdep install, and install chosen debs via scripts/install_core_debs.sh

You still need colcon build after init. Do not follow with a second hand-run rosdep unless something failed.

Deb vs Source

The GitHub Release .deb (ros-jazzy-ocs2) is faster to install but cannot be modified. Choose source if you need to develop OCS2 itself. OCS2 is not available from packages.ros.org / Ubuntu apt. To switch later, re-run ./init_repo.sh and pick 2) 切换模块安装方式.

3. Build the Workspace¶

colcon build --symlink-install

This typically takes 10-20 minutes on first build.

4. Source and Launch¶

demo.launch.py defaults: robot:=cr5, hardware:=mock_components. You can omit both.

source install/setup.bash
ros2 launch ocs2_arm_controller demo.launch.py

There is no hardware:=mock key. See ros2_control in This Stack.

5. Observe the Demo¶

You should see:

RViz (config demo_ocs2.rviz from the same launch)
arms_target_manager when enable_arms_target_manager is true (launch default)
Controller FSM starting in HOLD (ocs2_arm README)

Switch FSM with /fsm_command (std_msgs/Int32): 1 HOME, 2 HOLD, 3 OCS2 — FSM and Topics.

Do not publish a stack-wide /target_pose. That topic is not in the OCS2 arm README or demo.launch.py. Branch-specific EE topics (for example /left_target on panthera-ht) are listed in that branch’s README.

Troubleshooting¶

Build Fails with Missing Packages¶

Re-run ./init_repo.sh menu 5) 仅运行 rosdep, or:

rosdep install --from-paths src --ignore-src -r -y

OCS2 Package Not Found¶

OCS2 is not in the ROS apt index. Re-run ./init_repo.sh: menu 1 with d for OCS2, menu 2 to switch source ↔ deb, or menu 3:

./scripts/install_core_debs.sh --only ocs2

Submodule Errors¶

Re-run ./init_repo.sh (menu 1) instead of a blind recursive submodule init. The script already syncs selected source modules.

Workspace Not Sourced¶

In a new terminal, from the workspace root after a successful build:

source install/setup.bash

install/setup.bash overlays ROS (standard ROS 2 overlay).

Next Steps¶

Video Demo¶

TODO

Video demonstration to be added showing expected RViz output and robot motion.