# Robossembler ROS2

Repo for ROS2 packages related to Robossembler

## Instructions
### Requirements
* OS: Ubuntu 22.04
* ROS 2 Humble
* nlohman/json

### Dependencies
These are the primary dependencies required to use this project.

* MoveIt 2 
    > Install/build a version based on the selected ROS 2 release
* Gazebo Fortress
* [nlohman/json](https://github.com/nlohmann/json/releases/tag/v3.11.3)

### Build

1. Clone the repository
2. Build packages `colcon build`


Prepare workspace & install dependencies (So far only tested with UR robot arm)
```bash
mkdir -p ~/robossembler_ws/src && cd ~/robossembler_ws/src
git clone https://gitlab.com/robosphere/robossembler-ros2
vcs import . < robossembler-ros2/rbs.sim.repos
cd ..
rosdep install -y -r -q --from-paths src --ignore-src --rosdistro humble
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --symlink-install
```
<!-- For simulation with Mujoco, pls [ref](https://github.com/fzi-forschungszentrum-informatik/cartesian_controllers/blob/fdaa9a2dd0ce15fc949b127dd1164095504273fb/cartesian_controller_simulation/README.md) build and install section. -->

### Set Gazebo enviroment variables
Replace `[WS_FOLDER]` with your workspace folder
```bash
echo "export IGN_GAZEBO_RESOURCE_PATH=${IGN_GAZEBO_RESOURCE_PATH}:~/[WS_FOLDER]/install/robotiq_description/share/:~/[WS_FOLDER]/install/rbs_simulation/share/rbs_simulation/" >> ~/.bashrc
```


### Examples
Activate current ROS2 enviroment:
```
. install/setup.bash
```

Launch MoveIt2, Gazebo, RViz:
```bash
ros2 launch rbs_bringup bringup.launch.py
```

Start BT node in another terminal
```
ros2 launch rbs_bt_executor rbs_executor.launch.py
```

### Links
* [bt_v3_cpp](https://www.behaviortree.dev)
* [moveit2](https://moveit.picknik.ai/humble/index.html)