ros2-robotic-manipulation

Welcome to the ROS2 Manipulator Arm Workflow repository! This repository showcases a comprehensive workflow for robotic manipulation using ROS2, with a focus on manipulator arm-related packages.

Quick Start Steps

Prerequiste

• Install the Docker in your system.
• (Optional- if not using Docker Container) Install ros2-humble Distro in your system.
• Install docker-run cli tool to build the docker container from the docker image.

Prerequiste Installation check

• For Docker

  Run the following command in terminal

  •  docker run hello-world

  • expected output : if docker installation is proper

    Hello from Docker!
    This message shows that your installation appears to be working correctly.
    

• For ROS2-Humble (optional: only if using system installed ROS2)

  • Run the following command in terminal

    The ros2 doctor command performs a series of checks to ensure your ROS 2 environment is properly configured. If all checks pass, it indicates that your ROS 2 Humble installation is in good shape.

    •   ros2 doctor 

    • expected output : All 5 checks passed

System setup : to run this repo code

• Clone the repo and build the docker image from Dockerfile present in repo

  # clone the repo to desired directory
  git clone [email protected]:kumar-sanjeeev/ros2-robotic-manipulation.git
  
  # build the docker image 
  docker build -t <desired_docker_image_name> . 
  
  # launch the docker container using docker-run 
  docker-run --name <conatiner_name> --mwd -it -e DOCKER_UID=$(id -u) -e DOCKER_GID=$(id -g) -e DOCKER_USER=$(id -un) --no-gpu --no-rm <desired_docker_image_name>:latest

  Info : to find what this docker-run command is doing visit docker-run and docker-ros-ml-images repositories.

• Now you have docker container (name: <container_name> ) running in your system. You can start and exit this container using following commands

  • To start the container :

     docker start <container_name/container_id>

  • To interact with the running container terminal :

    docker exec -it <container_name/container_id> /bin/bash 

• Build the colcon workspace

  • Container opens up at location where you will see following files

      colcon_ws  Dockerfile  README.md

  • Build the colcon workspace

        # source the ROS (system lvel)
        source /opt/ros/humble/setup.bash
    
        # cd into colcon_ws
        cd colcon_ws/
    
        # build the workspace
        colcon build
    
        # overlay the newly build packages
        source install/setup.bash

Info about ROS2 pkgs of mybot

• ROS2 PKG : mybot_description:: This package provides a comprehensive description of the custom mybot robotic manipulator arm.
• ROS2 PKG : mybot_control:: This package enables the ros2 control for the custom mybot robotic manipulator arm.
• ROS2 PKG : mybot_moveit:: This package integrates the moveit framework to move the custom mybot robotic manipulator arm to specified joint positions.
• ROS2 PKG : mybot_utils:: This package provides the various utilies for specific operation for e.g. euler angels to quaternion conversion etc.