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

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

Set Gazebo enviroment variables

Replace [WS_FOLDER] with your workspace folder

echo "export IGN_GAZEBO_RESOURCE_PATH=${IGN_GAZEBO_RESOURCE_PATH}:~/[WS_FOLDER]/install/robotiq_description/share/:~/[WS_FOLDER]/install/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

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