Tesseract ROS

Platform	CI Status
Ubuntu
Lint (Clang-Format)
Lint (Clang Tidy)

Supported ROS Distros

Distro	Support
ROS Foxy	✓
ROS Humble	✓

Package Descriptions

tesseract_ros_examples

This package contains ROS examples using tesseract and tesseract_ros for motion planning and collision checking.

tesseract_rosutils

This package contains the utilities like converting from ROS message types to native Tesseract types and the reverse.

tesseract_msgs

This package contains the ROS message types used by Tesseract ROS.

tesseract_rviz

This package contains the ROS visualization plugins for Rviz to visualize Tesseract. All of the features have been composed in libraries to enable to the ability to create custom displays quickly.

tesseract_monitoring

This package contains different types of environment monitors. It currently contains a contact monitor and environment monitor. The contact monitor will monitor the active environment state and publish contact information. This is useful if the robot is being controlled outside of ROS, but you want to make sure it does not collide with objects in the environment. The second is the environment monitor, which is the main environment which facilitates requests to add, remove, disable and enable collision objects, while publishing its current state to keep other ROS nodes updated with the latest environment.

tesseract_planning_server

This package contains a planning server supporting asynchronous execution of multiple planning requests.

Build

• Create a colcon workspace and clone this repository into its src directory

• Add the dependencies

  cd <colcon_ws>
  vcs import < src/tesseract_ros2/dependencies.repos
  rosdep install --from-paths src -iry

• Build

  colcon build --symlink-install --cmake-args -DTESSERACT_BUILD_FCL=OFF -DBUILD_RENDERING=OFF -DBUILD_STUDIO=OFF