Package interbotix_xsarm_dual not found

[kandeng]

Following interbotix youtube tutorial, "X-Series Arms | Working With Multiple Arms", at 6:48， I executed the following command,

$ ros2 launch interbotix_xsarm_dual xsarm_dual.launch use_dual_rviz:=true

It complained that "Package interbotix_xsarm_dual not found".

I checked the package list, by following command, indeed the "interbotix_xsarm_dual" was not in the pkg list.

$ ros2 pkg list | grep interbotix
interbotix_common_modules
interbotix_common_sim
interbotix_common_toolbox
interbotix_moveit_interface
interbotix_moveit_interface_msgs
interbotix_perception_modules
interbotix_perception_msgs
interbotix_perception_pipelines
interbotix_perception_toolbox
interbotix_ros_xsarms
interbotix_ros_xsarms_examples
interbotix_ros_xseries
interbotix_tf_tools
interbotix_xs_driver
interbotix_xs_modules
interbotix_xs_msgs
interbotix_xs_ros_control
interbotix_xs_rviz
interbotix_xs_sdk
interbotix_xs_toolbox
interbotix_xsarm_control
interbotix_xsarm_descriptions
interbotix_xsarm_joy
interbotix_xsarm_moveit
interbotix_xsarm_moveit_interface
interbotix_xsarm_perception
interbotix_xsarm_ros_control
interbotix_xsarm_sim

My question is, shall I modify the package.xml and/or CMakeLists.txt in the following directory, and how?

~/interbotix_ws/src/interbotix_ros_manipulators/interbotix_ros_xsarms/examples/interbotix_ros_xsarms_examples/

Many thanks.

[kandeng]

O, forget to mention,

I used ROS2/Humble on Ubuntu 22.04

[lukeschmitt-tr]

The interbotix_xsarm_dual package has recently been updated. Check it out in humble or newer: https://github.com/Interbotix/interbotix_ros_manipulators/tree/humble/interbotix_ros_xsarms/examples/interbotix_xsarm_dual

Pull the latest commits from the remote and rebuild your workspace to apply the changes.

Documentation to come, but the bringup process is as follows:

1. Determine which robot is on which port
2. Configure the launch file as needed (robot models, etc.)
3. Configure the xsarm_dual.py script as needed (robot models, etc.)
4. Launch the package: ros2 launch interbotix_xsarm_dual xsarm_dual.launch.py
5. Run the script: python3 xsarm_dual.py

[kandeng]

Wonderful!

It works fine now.