Robossembler ROS2

Repo for ROS2 packages related to Robossembler

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

Clone the repository
Build packages colcon build

Prepare workspace & install dependencies (So far only tested with UR robot arm)

mkdir -p ~/robossembler_ws/src && cd ~/robossembler_ws/src
git clone https://gitlab.com/robosphere/robossembler-ros2
vcs import . < robossembler-ros2/rbs.repos
cd ..
rosdep install -y -r -q --from-paths src --ignore-src --rosdistro humble
colcon build --merge-install --symlink-install # args are optional

Set Gazebo enviroment variables

Replace [WS_FOLDER] with your workspace folder

echo "export IGN_GAZEBO_RESOURCE_PATH=${IGN_GAZEBO_RESOURCE_PATH}:~/robossembler_ws/install/share/rbs_simulation:~/robossembler_ws/install/share" >> ~/.bashrc

Examples

Add source to environment

. install/setup.bash

Launch MoveIt2, Gazebo, RViz

ros2 launch rbs_simulation rbs_simulation.launch.py

Launch bt_tree (TBD)

It will execute bt_tree once from file rbs_bt_executor/bt_trees/test_tree.xml

ros2 launch rbs_bt_executor rbs_executor.launch.py

The robot arm should move to the point from config file in path

rbs_bt_executor/config/points.yaml

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