EasyBot

This is the Repo of the Easybot (ROS Jazzy) with a MoveIt2 Config and Gazebo Harmonic

Usage

1. Do the git clone below (in ros2_ws/src):

git clone https://github.com/TW-Robotics/EasyBot.git

2. Install all needed packages and dependancies (assuming ros-jazzy-desktop installation) with:

sudo apt install ros-jazzy-ros-gz ros-jazzy-gz-ros2-control ros-jazzy-ros2-control ros-jazzy-ros2-controllers ros-jazzy-moveit ros-jazzy-joint-state-publisher*

3. Build your Workspace with (in ros2_ws):

colcon build

4. Source you Install directory with (assuming ros2_ws is in your home and you are using bash):

source ~/ros2_ws/install/setup.bash

Launching the EasyBot in Gazebo with MoveIt Control (joint_trajectory_controller with position command_interface)

ros2 launch easybot_bringup run.launch.py

This launches a Gazebo Empty World with the EasyBot spawned 1.0 meters clear of the ground plane

Launching the EasyBot in Gazebo with MoveIt Control (joint_trajectory_controller with effort command_interface)

ros2 launch easybot_bringup run_effort.launch.py

This launches a Gazebo Empty World with the EasyBot spawned 1.0 meters clear of the ground plane.

Attention: PID Controller is very poorly optimized, Easybot will struggle to reach most positions with the set goal tolerances! (WIP)

Issues

• Default Planner has to be choosen in RViz (Context --> OMPL --> Planner Dropdown --> choose RRTConnect)
• Effort Controller poorly optimized

To-Do

• MoveIt branch with Moveit Configuration
• Different Controllers (velocity and effort planned) Added effort controller
• Optimize PID for Effort controller
• Adding different OMPL Planners for testing
• DH-Convention for EasyRobot