Create a workspace

mkdir -p ~/ros/galil/src
cd ~/ros/galil

Clone repository

git clone git@github.com:simonleonard/galil.git src/galil

Build

colcon build

Run

source install/setup.bash
ros2 launch galil_driver view.launch.py

Stream positions

ros2 topic echo /joint_states

Position Command

cd src/galil/galil_driver/scripts
chmod 755 move_position.sh
./move_position.sh <encoder_cnt_x> <encoder_cnt_y> <encoder_cnt_z>

where the arguments are integers (specify all three)