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Build and Run

Build the Library

cd ~/ros2_ws
colcon build --symlink-install --packages-select dyros_robot_controller
source install/setup.bash

Build C++ Examples

cd ~/ros2_ws/src/dyros_robot_controller/examples/C++
mkdir -p build
cd build
cmake ..
cmake --build . -j

Run C++ Examples

cd ~/ros2_ws/src/dyros_robot_controller/examples/C++/build
./dyros_robot_controller_example fr3
./dyros_robot_controller_example xls
./dyros_robot_controller_example fr3_xls

Run Python Examples

cd ~/ros2_ws/src/dyros_robot_controller/examples/python
python3 dyros_robot_controller_example.py --robot_name fr3
python3 dyros_robot_controller_example.py --robot_name xls
python3 dyros_robot_controller_example.py --robot_name fr3_xls

Build the Documentation Site

cd ~/ros2_ws/src/dyros_robot_controller
python3 -m pip install -r docs/requirements.txt
mkdocs build --strict

Serve the Documentation Locally

mkdocs serve

Open http://127.0.0.1:8000/dyros_robot_controller/ when site_url is enabled, or use the URL printed by MkDocs.