mobile_manipulator

This is a ROS2 package for MiR 250 + UR5e + Realsense D435i with ros2_control, Gazebo and Ignition Gazebo simulation.

Installation

Preliminaries

ROS2

If you haven't already installed ROS2 on your PC, you need to add the ROS2 apt repository.

Also install ros2-control and ros2-controllers

sudo apt-get install ros-humble-ros2-control
sudo apt-get install ros-humble-ros2-controllers

Source install

# create a ros2 workspace
mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/

# clone mir_robot into the ros2 workspace
git clone https://github.com/Spartan-Velanjeri/UR-MiR-mobile-manipulator.git src/mir_robot

# use vcs to fetch linked repos
# $ sudo apt install python3-vcstool
vcs import < src/mir_robot/mir_robot/ros2.repos src --recursive

# use rosdep to install all dependencies (including ROS itself)
sudo apt update
sudo apt install -y python3-rosdep
rosdep update --rosdistro=humble
rosdep install --from-paths src --ignore-src -r -y --rosdistro humble

# build all packages in the workspace
source /opt/ros/humble/setup.bash
cd ~/ros2_ws
colcon build

You must source the workspace in each terminal you want to work in:

source ~/ros2_ws/install/setup.bash

Also make sure to run this in order to avoid problems with Gazebo (SEE NOTES)

. /usr/share/gazebo/setup.sh

Gazebo demo (mapping)

### gazebo: 
ros2 launch mir_gazebo mobile_manipulator.launch.py world:=maze

### mapping (slam_toolbox)
ros2 launch mir_navigation mapping.py use_sim_time:=true slam_params_file:=$(ros2 pkg prefix mir_navigation)/share/mir_navigation/config/mir_mapping_async_sim.yaml

### navigation (optional)
ros2 launch mir_navigation navigation.py use_sim_time:=true cmd_vel_w_prefix:=/diff_cont/cmd_vel_unstamped

Gazebo demo (Navigation with existing map)

### gazebo:
ros2 launch mir_gazebo mobile_manipulator.launch.py world:=maze rviz_config_file:=$(ros2 pkg prefix mir_navigation)/share/mir_navigation/rviz/mir_nav.rviz


### localization (existing map)
ros2 launch mir_navigation amcl.py use_sim_time:=true map:=$(ros2 pkg prefix mir_navigation)/share/mir_navigation/maps/maze.yaml

### navigation
ros2 launch mir_navigation navigation.py use_sim_time:=true

Manipulation using MoveIt2

### gazebo:
ros2 launch mir_gazebo mobile_manipulator.launch.py world:=maze

### MoveIt2:
ros2 launch ur_moveit_config ur_moveit.launch.py ur_type:=ur5e launch_rviz:=true prefix:=ur_ use_fake_hardware:=true use_sim_time:=true

### Gazebo Aruco model path (Also put in the src/mir_robot/mir_gazebo/worlds/include folder)
/install/mir_gazebo/share/mir_gazebo/worlds/include/marker_0001

### Aruco tag recognition (Make sure to add camera img to Rviz before running this)
ros2 launch ros2_aruco aruco_recognition.launch.py

### Aruco pose to nav2 goal
ros2 run ros2_aruco aruco_pose_to_nav_goal

### Aruco pose to manipulator goal
ros2 run ros2_aruco aruco_pose_to_manipulate

### Origin pose to nav2 goal
./src/mir_robot/mir_navigation/nav2_test.py 

### Tranform aruco pose to ur_base_link
ros2 run ros2_aruco aruco_pose_to_moveit

### hello_ur_moveit
ros2 launch hello_moveit_ur hello_moveit_ur_launch.py 

Notes

1. If you get an error with respect to Gazebo Classic: Cannot launch gzclient on a launch file - results in shared_ptr assertion error,

   All you have to do is, source the gazebo classic by. /usr/share/gazebo/setup.sh and try again

2. If you encounter an error with respect to launching the ur_moveit launch: Exception caught while processing action 'loadRobotModel': parameter 'robot_description_planning.joint_limits.panda_joint1.max_velocity' has invalid type: Wrong parameter type, parameter {robot_description_planning.joint_limits.panda_joint1.max_velocity} is of type {double}, setting it to {string} is not allowed,

   All you have to do is set LC_NUMERIC=en_US.UTF-8 in your terminal and try again

3. If you get an error about gazebo already open elsewhere, run this -

   killall gzserver

Acknowledgement

The 3d files for MiR 250 is from DFKI. The 3d model and plugins for UR5e are from Universal_Robots_ROS2_Driver. The Realsense plugin is from PAL Robotics and description from Intel.