Installation - miloboyd/chess-robot GitHub Wiki

RS2 Installation Guide

This guide explains how to install and run the RS2 ROS2-based chess-playing robot system with a UR3 arm, including dependencies, camera setup, and MoveIt integration.

Clone the Repository

Start by cloning the RS2 repository into your ROS2 workspace:

cd ~/ros2_ws/src
git clone https://github.com/seanealey/rs2.git

Make sure you are in the src folder of a valid ROS2 workspace.

Dependencies ROS2 and System Packages Install required ROS2 packages and system libraries:

sudo apt update
sudo apt install -y \
  ros-humble-rclpy \
  ros-humble-std-msgs \
  ros-humble-sensor-msgs \
  ros-humble-image-transport \
  ros-humble-cv-bridge \
  python3-opencv \
  python3-pip \
  python3-tk

Python Libraries Install the required Python packages:

pip install numpy opencv-python chess stockfish

RealSense Camera Setup RS2 uses a RealSense D435 camera for board recognition.

  1. Install RealSense packages:
sudo apt install ros-humble-realsense2-camera

For detailed setup or troubleshooting: https://github.com/IntelRealSense/realsense-ros

  1. Test camera stream:
realsense-viewer
  1. Launch the camera in ROS2:
ros2 launch realsense2_camera rs_launch.py

UR3 + MoveIt Setup RS2 assumes a UR3 robotic arm controlled with MoveIt.

  1. Install UR and MoveIt dependencies:
sudo apt install -y \
  ros-humble-moveit \
  ros-humble-moveit-common \
  ros-humble-moveit-ros-move-group \
  ros-humble-moveit-ros-planning \
  ros-humble-moveit-ros-visualization \
  ros-humble-moveit-setup-assistant \
  ros-humble-joint-state-publisher \
  ros-humble-robot-state-publisher \
  ros-humble-xacro \
  ros-humble-ur-description \
  ros-humble-ur-bringup

You may need to clone and build the Universal_Robots_ROS2_Driver package:

cd ~/ros2_ws/src
git clone -b humble https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver.git
git clone -b humble https://github.com/UniversalRobots/Universal_Robots_Description.git
  1. Connect to UR3: Make sure your UR3 is running the correct URCap, reachable over LAN, and in remote control mode.

Check IP connectivity, then bring up the robot using:

ros2 launch ur_bringup ur_control.launch.py ur_type:=ur3 robot_ip:=<ROBOT_IP> launch_rviz:=true

Replace <ROBOT_IP> with the actual IP address of the UR3 controller.

Build the Workspace After all dependencies are installed:

cd ~/ros2_ws
colcon build
source install/setup.bash

Always source this file in a new terminal session:

source ~/ros2_ws/install/setup.bash
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