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

• plansys2_bt
• bt_v3_cpp
• moveit2