devol

devol is an example ROS 2 Jazzy and Gazebo Harmonic demonstration, focused on simulating a robotic pick-and-place task using a Universal Robot (UR) manipulator and a Robotiq gripper. The project integrates robot description, motion planning with MoveIt, Gazebo simulation, and task execution via ROS 2 nodes.

See docs/FinalProject_525_630_CASSADY_CHANDRA.pdf for a detailed report on the project.

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📦 Packages Overview

devol_application

Contains the logic for executing a pick-and-place task.

• pick_and_place.cpp: A ROS 2 node that manages the behavior of the robot to perform pick-and-place operations, using MoveIt for motion planning and controlling the Robotiq gripper.

devol_bringup

Launch package for initializing the full simulation environment.

• devol_sim.launch.py: Launches the complete simulation, including Gazebo, the robot model, and all necessary nodes.

devol_description

Defines the robot’s physical and visual properties.

• Xacro files for the UR manipulator and Robotiq gripper
• Combined robot description for simulation and control
• Integrates with ros2_control for hardware simulation and control interfaces

devol_gazebo

Configures the Gazebo simulation environment.

• World files in SDF format (e.g., factory_world.sdf)
• Sources world objects from Fuel

devol_moveit_config

Configuration for MoveIt 2 to plan and execute motions for the devol robot.

• Motion planning pipelines
• Kinematics and controller configuration
• RViz motion planning plugin setup