Niryo One ROS Simulation

Licensed under GPLv3 (see LICENSE file)

Works on ROS Kinetic.

ROS simulation for the robot Niryo One. This work simulates the Niryo One robot in Gazebo and Rviz, and also shows different ways to control it.

##1. Install from source

Get the code:

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
git clone https://github.com/Alex-Pabon/Simulation_Ros_Niryo_One

Build the packages:

cd ~/catkin_ws
catkin_make

Don't forget to use those commands before you try to launch anything or terminal(you can add them in your .bashrc) :

source /opt/ros/kinetic/setup.bash 
source ~/catkin_ws/devel/setup.bash

Display Niryo One with Rviz

To simply display the robot and get to move each joint separately, run:

roslaunch niryo_one_description display.launch

Show Niryo in RVIZ and move it with the Joystick

Run:

roslaunch niryo_one_description display2.launch

In another terminal, configure your Joystick you can do it bye using the following guide: http://wiki.ros.org/joy/Tutorials/ConfiguringALinuxJoystick

Then, in another terminal, run:

rosrun niryo_one_description joystick_ikine

Niryo One in Gazebo

Developed and tested on ROS Kinetic/Gazebo 9.

1. Constant motion The robot will have an initial position and from this it will move constantly. First start Gazebo (empty world) and Niryo One model:

roslaunch niryo_one_gazebo niryo_one_world.launch

Then, start the controllers (ros_control):

roslaunch niryo_one_gazebo niryo_one_control.launch

Finally, in a new terminal:

rosrun niryo_one_gazebo Movimiento.py

2. Pick and place

The robot will move to the location of the object and then move the container:

First start Gazebo (empty world) and Niryo One model:

roslaunch niryo_one_gazebo niryo_one_world.launch

Then, start the controllers (ros_control):

roslaunch niryo_one_gazebo niryo_one_control.launch

Finally, in a new terminal:

rosrun niryo_one_gazebo PickPlace.py