ROS2 and Moveit for manipulators

This repository provides the Docker container to run ROS 2 with Moveit. It provides simple programs to move the robot in joint space and working space.

Build

cd docker
sudo ./build.sh

Run

sudo ./run.sh

colcon build

source ./install/setup.bash

Start Moveit

# workingspace: ws_moveit2
ros2 launch moveit2_tutorials demo.launch.py

and following the link

Start motion application

# start your second terminal and connect to the running Docker container
cd ../colcon_ws

colcon build

source ./install/setup.bash

# move robot in joint space
ros2 run alpha_moveit joint_moveit


# move robot in working space
ros2 run alpha_moveit ik_moveit

Launch Fanuc arm

cd ../colcon_ws

ros2 launch fanuc_moveit_config demo.launch.py

Launch Yaskawa GP-8

cd ../colcon_ws

ros2 launch moveit_resources_moto_moveit_config xy_start.launch.py

Launch Kuka

ros2 launch kuka_arm_pkg p1_c_moveit_kuka_arm.launch.py

# run the launch file in order to send custom goals using Move group interface

ros2 launch kuka_arm_pkg p1_d_moveit_node_controlling.launch.py

Run IK using Moveit,

ros2 launch kuka_arm_pkg launch_kuka_arm.launch.py

One XYZ goal (working space)

ros2 run kuka_arm_pkg ik_kuka

Multiple XYZ goals (working space)

ros2 run kuka_arm_pkg ik_x_kuka

Move robot (joint space), check final position and call IK

ros2 run kuka_arm_pkg move_kuka

Lanuch Reach Alpha 5 (Underwater applications)

Note: run in colcon_ws

ros2 launch alpha_bringup_simulation planning_alpha5.launch.py

---

Run linear motion

1. Run in terminal 1,

ros2 launch alpha_bringup_simulation planning_alpha5.launch.py

2. Run in terminal 2 (linear controller),

cd /root/colcon_ws/src/py_alpha_move/py_alpha_move

python3 linear_ik_controller_node_sim.py

3. Run in terminal 3,

Run following commands and the end-effector of the robot moves linearly (almost).

ros2 topic pub /target_position std_msgs/msg/Float64MultiArray "data: [0.2, 0.3, 0.0]" -1

ros2 topic pub /target_position std_msgs/msg/Float64MultiArray "data: [0.2, -0.3, 0.0]" -1

ros2 topic pub /target_position std_msgs/msg/Float64MultiArray "data: [0.3, 0.0, 0.0]" -1

4. Check actual end-effector postion

cd /root/colcon_ws/src/py_alpha_move/py_alpha_move

python3 check_EE_pos.py

5. Optional, there is a possibility to launch IK solver running in C++ (we use Ceres solver),

colcon build

ros2 run ik_solver_cpp ik_solver_node

---

Run motion program (working space - IK Solver)

1. Run in terminal 1,

ros2 launch alpha_bringup_simulation planning_alpha5.launch.py

2. Run in terminal 2 (IK Solver),

cd /root/colcon_ws/src/py_alpha_move/py_alpha_move

python3 alpha_ik_controller_sim.py

3. Run in terminal 3,

ros2 topic pub /target_position std_msgs/msg/Float64MultiArray "data: [0.19, -0.07, 0.03]" -1

4. Move the robot in working space using keyboard,

cd /root/colcon_ws/src/py_alpha_move/py_alpha_move

python3 xyz_mapper_sim.py

There is possible to check performance of QuIK for Alpha 5 but it does not produce correct joint values (due to wrong DH we passed in yaml file ?).

ros2 run quik alpha5_ros_cpp_node --ros-args --params-file /root/colcon_ws/src/quik/config/alpha5.yaml

publish to this node,

ros2 topic pub /target_position std_msgs/msg/Float64MultiArray "data: [0.19, -0.07, 0.03]" -1

---

Run motion program (joint space)

ros2 run alpha_moveit joint_moveit

Run motion (pos control)

ros2 launch alpha_bringup_simulation planning_alpha5.launch.py

Verify Controller is Active:

ros2 control list_controllers

Expected Output:

xsubsea                 joint_trajectory_controller/JointTrajectoryController  active
joint_state_broadcaster joint_state_broadcaster/JointStateBroadcaster          active

Move robot:

ros2 topic pub /xsubsea/joint_trajectory trajectory_msgs/msg/JointTrajectory "joint_names:
  - 'axis_a'
  - 'axis_b'
  - 'axis_c'
  - 'axis_d'
  - 'axis_e'
points:
  - positions: [1.0, 0.5, -0.5, 0.0, 1.5]
    time_from_start:
      sec: 2
      nanosec: 0" -1

Run teleoperation app

Expected results,

It is required to run other Docker container to capture motion and estimate the postion of hand.

Clone here,

git clone https://github.com/markusbuchholz/camera_depth_ros2.git

Complete command pipeline,

#terminal 1 
# from current Docker
ros2 launch alpha_bringup_simulation planning_alpha5.launch.py

#terminal 2 
# from current Docker
cd /root/colcon_ws/src/py_alpha_move/py_alpha_move
python3 alpha_ik_controller_sim_const_axis_b.py


#terminal 3
#from camera_depth_ros2
cd /home/devuser/cam_ws/src/dev_opencv_py/dev_opencv_py
python3 cam_pub.py


#terminal 4
#from camera_depth_ros2
cd /home/devuser/src/mediapipe
python3 python3 ros2_xy_gripper_sim_display.py 

---

Reach Alpha 5 Motion executor

Run a simple bash script to pass manipulator positions in joint space.

The robot positions need to be computed by a trajectory optimizer.

cd /root/colcon_ws/src/py_alpha_move/py_alpha_move

./run_trajectory.sh

Expected results,

---

Recommended reads

• How Do Robot Manipulators Move?
• pyroboplan
• panda_ign_moveit2
• How to start with ROS 2 and Interface to Yaskawa
• Reach Robotics SDK
• Reach Robotics GitHub
• ref
• QuIK
• MoveIt compatibility