Robotic Manipulator Simulation

A project simulating a Robot Manipulator Arm using ros2-control and Gazebo.

Included packages

• manipulator_description - holds the sdf description of the simulated system and any other assets.

• manipulator_gazebo - holds gazebo specific code and configurations. Namely this is where systems end up.

• manipulator_application - holds ros2 specific code and configurations.

• manipulator_bringup - holds launch files and high level utilities.

Build and Install

The code requires a ROS2 Humble installation and the suggested Gazebo Fortress. Currently it supports only installations on Ubuntu 22.04.

1. Install ROS2 Humble and Gazebo Fortress. Use RoboStack to install humble and Gazebo, for example in a conda env.

2. Clone this repository in the source folder of your workspace, e.g. <ros2_ws/src>.

3. Install with conda:

   cd ~/ros2_ws/src/manipulator_gz_sim
   conda install --file conda_env.yml

4. Use colcon to build.

   cd ~/ros2_ws
   colcon build

Usage

1. In all the terminals activate the conda environement and source ROS2

   conda activate humble
   source ~/ros2_ws/install/setup.sh

2. Launch the Gazebo model in one terminal:

    ros2 launch manipulator_bringup manipulator_setup.launch.py

3. Launch the trajectory generator node in another terminal:

    ros2 run manipulator_application reference_generator