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Repo for ROS2 packages related to Robossembler
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Igor Brylyov 0e79ec0ca0 Added LICENSE for all packages
2022-08-12 06:21:32 +00:00
rasmt_moveit_config add scene_monitor services to robossebler node 2022-03-29 02:23:01 +08:00
rasmt_support Fix meshes position 2022-04-07 15:17:46 +00:00
robonomics add robonomics loader script 2022-04-06 17:53:35 +08:00
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robossembler_interfaces create remove pddl action 2022-04-01 01:36:48 +08:00
robossembler_scene_monitor add 'remove' action to plansys2 2022-04-05 21:32:32 +08:00
robossembler_servers Fix meshes position 2022-04-07 15:17:46 +00:00
sdf_models Fix meshes position 2022-04-07 15:17:46 +00:00
.gitignore Fix meshes position 2022-04-07 15:17:46 +00:00
.gitlab-ci.yml Added build job on merge request with Gitlab CI 2022-01-23 20:40:41 +00:00
LICENSE Added LICENSE for all packages 2022-08-12 06:21:32 +00:00
rasms.repos create remove pddl action 2022-04-01 01:36:48 +08:00
README.md Added info about Gazebo 2022-01-20 00:18:03 +03:00

README.md

Robossembler ROS2

Repo for ROS2 packages related to Robossembler

Instructions

Requirements

  • OS: Ubuntu 20.04
  • Other distributions might work (not tested).

Dependencies

These are the primary dependencies required to use this project.

  • ROS 2 Foxy
  • MoveIt 2

    Install/build a version based on the selected ROS 2 release

  • Gazebo

Build

  1. Clone the repository
  2. Build packages

For visualization install colcon with mixin (it's required to install moveit_visual_tools):

sudo apt install python3-colcon-common-extensions python3-colcon-mixin python3-vcstool
colcon mixin add default https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
colcon mixin update default

Prepare workspace & install dependencies

mkdir -p ~/robossembler_ws/src && cd ~/robossembler_ws/src
git clone https://gitlab.com/robosphere/robossembler-ros2
vcs import . < robossembler-ros2/rasms.repos
cd ..
rosdep install -y -r -q --from-paths src --ignore-src --rosdistro foxy
colcon build --symlink-install --mixin release

but at the moment the visualization is not implemented

Examples

Add source to environment

source install/setup.bash

Add robot model to Gazebo models directory

cp ~/robossembler_ws/src/robossembler-ros2/rasmt_support/ ~/.gazebo/models/

Launch MoveIt2, Gazebo, RViz and PlanSys2 with domain from pddl/domain.pddl

ros2 launch robossembler robossembler_bringup.launch.py

With PlanSys2 Terminal

Launch Plansys2 Terminal

ros2 run plansys2_terminal plansys2_terminal

Then into plansys2_terminal paste command (see updates into pddl/commands)

set instance rasmt_arm_group robot
set instance one zone
set goal (and (robot_move rasmt_arm_group one))
run

With C++ node

ros2 run robossembler move_controller_node

Links