86 lines
3.6 KiB
Markdown
86 lines
3.6 KiB
Markdown
# Robossembler ROS2
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Repo for ROS2 packages related to Robossembler
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## Packages List
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1. `env_manager` - virtual environment switching manager and related packages
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- `env_interface` - base class for creating a specific environment based on the ROS 2 LifeCycle Node
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- `env_manager` - main package of the virtual environment switching manager
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- `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
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- `gz_environment` - a specific instance of `env_interface` for the Gazebo simulator
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- `planning_scene_manager` - sync env with planning scene for MoveIt 2
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- `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
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2. `rbs_bringup` - package for launching different launch scenarios: simulation, real robot, different hardware configurations (multi-robot)
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3. `rbs_bt_executor` - module for launching behavior trees on Behavior Tree CPP v4
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4. `rbs_interface` - package for linking trees with skill servers
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5. `rbs_perception` - machine perception module, where different versions are implemented
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6. `rbs_simulation` - models for simulation
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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)
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8. `rbs_skill_servers` - Skill Server packages: Move, Object Detection, 6D Pose Estimation
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9. `rbs_task_planner` - PDDL-based task scheduler
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10. `rbs_utils` - working with a config containing capture positions for details
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11. `rbss_objectdetection` - Object Detection Skill Server using YOLOv8
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## Instructions
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### Requirements
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* OS: Ubuntu 22.04
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* ROS 2 Humble
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### Dependencies
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These are the primary dependencies required to use this project.
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* MoveIt 2
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> Install/build a version based on the selected ROS 2 release
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* Gazebo Fortress
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### Build
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1. Clone the repository
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2. Build packages `colcon build`
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Prepare workspace & install dependencies (So far only tested with UR robot arm)
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```bash
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mkdir -p ~/robossembler_ws/src && cd ~/robossembler_ws/src
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git clone https://gitlab.com/robosphere/robossembler-ros2
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vcs import . < robossembler-ros2/repos/sim.rbs.repos
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cd ..
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rosdep install -y -r -q --from-paths src --ignore-src --rosdistro humble
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colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --symlink-install
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```
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Additionally, if you want to use Cartesian controllers, such as stiffness or others, you need to execute the following:
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```
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# in directory robossembler_ws/src
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vcs import . < robossembler-ros2/repos/cartesian_controllers.repos
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```
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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.
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### Set Gazebo enviroment variables
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Replace `[WS_FOLDER]` with your workspace folder
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```bash
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echo "export IGN_GAZEBO_RESOURCE_PATH=${IGN_GAZEBO_RESOURCE_PATH}:~/[WS_FOLDER]/install/rbs_simulation/share/rbs_simulation/" >> ~/.bashrc
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# or if you have alredy built the workspace
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echo "export IGN_GAZEBO_RESOURCE_PATH=${IGN_GAZEBO_RESOURCE_PATH}:~/$(ros2 pkg prefix rbs_simulation)/share/rbs_simulation/" >> ~/.bashrc
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```
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### Examples
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Activate current ROS2 enviroment:
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```
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. install/setup.bash
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```
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Launch MoveIt2, Gazebo, RViz:
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```bash
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ros2 launch rbs_bringup bringup.launch.py
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```
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Start BT node in another terminal
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```
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ros2 launch rbs_bt_executor rbs_executor.launch.py
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```
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### Links
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* [bt_v3_cpp](https://www.behaviortree.dev)
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* [moveit2](https://moveit.picknik.ai/humble/index.html)
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