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

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