# Robossembler ROS2

Repo for ROS2 packages related to Robossembler

## Packages List

1. `env_manager` - virtual environment switching manager and related packages
    - `env_interface` - base class for creating a specific environment based on the ROS 2 LifeCycle Node 
    - `env_manager` - main package of the virtual environment switching manager
    - `env_manager_interfaces` - ROS 2 interfaces for env_manager, describe messages about the state of the environment, services for configuring/loading/enabling/unloading the environment
    - `gz_environment` - a specific instance of `env_interface` for the Gazebo simulator
    - `planning_scene_manager` - sync env with planning scene for MoveIt 2
    - `rbs_gym` - training module with reinforcement: management of the learning process, formation of simulation environments, management of action spaces (actions) and perception (observation), task management, utilities
2. `rbs_bringup` - package for launching different launch scenarios: simulation, real robot, different hardware configurations (multi-robot)
3. `rbs_bt_executor` - module for launching behavior trees on Behavior Tree CPP v4
4. `rbs_interface` - package for linking trees with skill servers
5. `rbs_perception` - machine perception module, where different versions are implemented
6. `rbs_simulation` - models for simulation
7. `rbs_skill_interfaces` - commonly used (common) interfaces for interacting with Skill Servers and the Behavior Tree (specific interfaces are placed in Skill Server packages)
8. `rbs_skill_servers` - Skill Server packages: Move, Object Detection, 6D Pose Estimation
9. `rbs_task_planner` - PDDL-based task scheduler
10. `rbs_utils` - working with a config containing capture positions for details
11. `rbss_objectdetection` - Object Detection Skill Server using YOLOv8

## Instructions
### Requirements
* OS: Ubuntu 22.04
* ROS 2 Humble

### 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

### 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/repos/sim.rbs.repos
cd ..
rosdep install -y -r -q --from-paths src --ignore-src --rosdistro humble
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --symlink-install
```

Additionally, if you want to use Cartesian controllers, such as stiffness or others, you need to execute the following:
```
# in directory robossembler_ws/src
vcs import . < robossembler-ros2/repos/cartesian_controllers.repos
```
This will also install `ros2_control` and `gz_ros2_control` as packages, so it is recommended to delete global packages if they have been installed.

### Set Gazebo enviroment variables
Replace `[WS_FOLDER]` with your workspace folder
```bash
echo "export IGN_GAZEBO_RESOURCE_PATH=${IGN_GAZEBO_RESOURCE_PATH}:~/[WS_FOLDER]/install/rbs_simulation/share/rbs_simulation/" >> ~/.bashrc
# or if you have alredy built the workspace
echo "export IGN_GAZEBO_RESOURCE_PATH=${IGN_GAZEBO_RESOURCE_PATH}:~/$(ros2 pkg prefix 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)