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)

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

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:

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
• moveit2