ROS2 Omni-Robot with simple 6 axis manipulator

Description

A mobile platform with a manipulator on board equipped with a camera and lidar.

You can also run all modes together and everything will work, you can watch the demo

Content

Exbot_description

The folder exbot_description in the urdf section contains robot description files, divided into macros for better readability. This project also contains the RVIZ setup and launch files for launching.

Exbot_control

This directory is a file with a controllers (omni_wheel_drive cpntroller for moved platform) and manipulator controller (for MoveIt) also corresponding launch file for launching.

Exbot_gazebo

The gazebo folder contains world files and launch files for spawning the robot model in the gazebo world. The launch files also contain instructions for launching the controllers.

Exbot_navigaztion

This directory contains the nav2 setup and launch files for navigation and control via Rvia

Moveit_confit

This directory was created using the MoveIt SetUp Assistant and contains the appropriate files for moveIt and the launch files to run.

Prerequisites

Before running this project, ensure you have the following installed:

• ROS2 Jazzy
• Gazebo
• ROS2 Controllers
• MoveIt

Follow the official installation guide: ROS2 Installation

Setup Instructions

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws
# Navigate to the source directory
cd src
# Clone your project repository
git clone <your_repository_url>
cd ..
# Source the ROS2 environment
source /opt/ros/<your_ros2_distro>/setup.bash
# Install dependencies using rosdep
rosdep install --from-paths src --ignore-src -r -y
colcon build --packages-select <package_name>
# Or build all packages
# colcon build
source install/setup.bash

Launch files

1. Rviz visualization

This command will open Rviz and run the robot in it.

ros2 launch exbot_description display.launch.py

2. Startup Nav2

This command will launch a gazebo simulation in the configured world and spawn a robot.

ros2 launch exbot_description ex_gazebo.launch.py

To also launch navigation, enter the following commands, which will launch navigation and open the RVIZ for control.

# Nav2
ros2 launch exbot_navigation navigation.launch.py
# RViz
ros2 launch exbot_navigation navigation.launch.py

To control the robot via cmd-vel, run the following command

ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -p stamped:=true --remap cmd_vel:=/ex_controller/cmd_vel

Startup MoveIt

This command will launch a gazebo simulation in the configured world and spawn a robot.

ros2 launch exbot_description ex_gazebo.launch.py

To launch MoveIt, run the command:

ros2 launch manipulator_moveit_config moveit.launch.py

Demos