Installation¶

System Requirements¶

The package is built as a ROS 2 package and expects a ROS 2 workspace layout.

Required dependencies:

ROS 2 Humble
Eigen3
Pinocchio
OSQP and OSQP-Eigen
eigenpy
Boost.Python

Clone¶

Clone the repository into the src directory of a ROS 2 workspace.

cd ~/ros2_ws/src
git clone https://github.com/JunHeonYoon/dyros_robot_controller.git

If the package is part of a larger workspace, keep it under that workspace's src tree.

Build¶

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

Python Bindings¶

The Python package is installed as drc through ament_python_install_package(drc). After sourcing the workspace, the package can be imported from Python.

import drc
from drc.manipulator import RobotController

Documentation Dependencies¶

Install the documentation dependencies from the repository root.

python3 -m pip install -r docs/requirements.txt