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Update README.md with Jazzy patch

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Added additional info for setting up ROS2 newer editions (Jazzy)
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Kevin Jiang 2025-06-24 17:37:05 +09:00 committed by GitHub
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@ -36,13 +36,16 @@ Each link has a visual mesh and a collision mesh, as shown in the figures below:
https://github.com/user-attachments/assets/a0f962e5-6150-49ce-b18e-9914bcb322ef https://github.com/user-attachments/assets/a0f962e5-6150-49ce-b18e-9914bcb322ef
---
## Installation ## Installation
1. [Install ROS2 and ros-dev-tools](https://docs.ros.org/en/humble/Installation.html) (tested on Humble with Ubuntu 22.04) 1. [Install ROS2 and ros-dev-tools](https://docs.ros.org/en/humble/Installation.html) (tested on Humble with Ubuntu 22.04)
2. [Create a ROS2 workspace and source the overlay](https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Creating-A-Workspace/Creating-A-Workspace.html) 2. [Create a ROS2 workspace and source the overlay](https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Creating-A-Workspace/Creating-A-Workspace.html)
```sh ```sh
source /opt/ros/humble/setup.bash # change humble to your ROS2 distro source /opt/ros/humble/setup.bash # Change "humble" to your ROS 2 distro, ie:
# source /opt/ros/jazzy/setup.bash
mkdir -p ~/ros2_ws/src mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src cd ~/ros2_ws/src
git clone https://github.com/reazon-research/openarm_ros2.git git clone https://github.com/reazon-research/openarm_ros2.git
@ -57,6 +60,9 @@ rosdep update
rosdep install --from-paths src -y --ignore-src -r rosdep install --from-paths src -y --ignore-src -r
sudo apt install -y python3-colcon-common-extensions sudo apt install -y python3-colcon-common-extensions
#⚠️ If you're using ROS2 Iron or Jazzy, apply the patch below before building:
colcon build colcon build
``` ```
@ -74,6 +80,28 @@ ros2 launch openarm_bimanual_moveit_config demo.launch.py
``` ```
## ROS2 Jazzy patch
Edit the test source file:
```sh
nano ~/ros2_ws/src/openarm_ros2/openarm_hardware/test/test_openarm_hardware.cpp
```
Find the line:
```sh
hardware_interface::ResourceManager rm(urdf);
```
Replace it with:
```sh
ASSERT_NO_THROW({
auto logger = rclcpp::get_logger("test_logger");
auto clock = std::make_shared<rclcpp::Clock>(RCL_ROS_TIME);
hardware_interface::ResourceManager rm(urdf, clock, logger, true, 0);
});
```
Continue with the build.
---
## License ## License
All packages of `openarm_ros2` are licensed under the [Apache License 2.0](https://www.apache.org/licenses/LICENSE-2.0). All packages of `openarm_ros2` are licensed under the [Apache License 2.0](https://www.apache.org/licenses/LICENSE-2.0).