64 lines
No EOL
2.2 KiB
Markdown
64 lines
No EOL
2.2 KiB
Markdown
# 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
|
|
|
|
1. Clone the repository
|
|
2. Build packages `colcon build`
|
|
|
|
|
|
Prepare workspace & install dependencies (So far only tested with UR robot arm)
|
|
```bash
|
|
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 --packages-skip cartesian_controller_simulation cartesian_controller_tests --cmake-args -DCMAKE_BUILD_TYPE=Release --symlink-install
|
|
```
|
|
For simulation with Mujoco, pls [ref](https://github.com/fzi-forschungszentrum-informatik/cartesian_controllers/blob/fdaa9a2dd0ce15fc949b127dd1164095504273fb/cartesian_controller_simulation/README.md) build and install section.
|
|
|
|
### Set Gazebo enviroment variables
|
|
Replace `[WS_FOLDER]` with your workspace folder
|
|
```bash
|
|
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:
|
|
```bash
|
|
ros2 launch rbs_bringup bringup.launch.py
|
|
```
|
|
|
|
Load Problem file via ROS2 Service (TMP):
|
|
```
|
|
ros2 service call /problem_expert/add_problem plansys2_msgs/srv/AddProblem '{problem: (define (problem box_problem)(:domain atomic_domain)(:objects ur_manipulator_gripper - arm workspace1 - zone box1 box2 box3 - part asm0 asm1 asm2 asm3 - assembly)(:init (part_of box1 asm1)(part_of box2 asm2)(part_of box3 asm3)(assembly_order asm0 asm1)(assembly_order asm1 asm2)(assembly_order asm2 asm3)(arm_available ur_manipulator_gripper)(assembly_at asm0 workspace1)(assembled asm0))(:goal (and (assembled asm3))))}'
|
|
```
|
|
|
|
Start task planner
|
|
```
|
|
ros2 run rbs_task_planner execute_plan
|
|
```
|
|
|
|
### Links
|
|
* [bt_v3_cpp](https://www.behaviortree.dev)
|
|
* [moveit2](https://moveit.picknik.ai/humble/index.html) |