wros2

ROS2 node examples with WRS.

• ROS Humble Hawksbill node examples with robot motion planners implemented in WRS.

Features

• Docker environment for ROS Humble Hawksbill packages
• ROS2 node examples with grasp planners (Wan et al., IEEE TRO 2021)

Dependency

• Ubuntu 22.04 PC
  • ROS2 Humble Hawksbill
  • docker 20.10.12
  • docker-compose 1.29.2
  • nvidia-docker2 2.8.0-1

Installation

git clone git@github.com:Osaka-University-Harada-Laboratory/wros2.git --recursive --depth 1 && cd wros2 && COMPOSE_DOCKER_CLI_BUILD=1 DOCKER_BUILDKIT=1 docker compose build --no-cache --parallel 

Usage

1. Build and run the docker environment

• Create and start docker containers in the initially opened terminal

  docker compose up

• Execute the container in another terminal

  xhost + && docker exec -it wros_humble_container bash

2. Change planning parameters in wros2_tutorials/config/XXX.yaml
3. Build program files with the revised yaml

   colcon build --symlink-install --parallel-workers 1 && source install/setup.bash

4. Run a planning process in the container

• Use byobu to easily command several commands

  byobu

  • First command & F2 to create a new window & Second command ...
  • Ctrl + F6 to close the selected window
• Run the grasp planner

   ros2 launch wros2_tutorials plan_grasp_launch.py config:=XXX.yaml

• Call the planning service

  ros2 service call /plan_grasp std_srvs/srv/Empty

Robotiq Hand-E

Please refer to wros2_tutorials/config/planner_params_robotiqhe_example.yaml.

byobu

ros2 launch wros2_tutorials plan_grasp_launch.py config:=planner_params_robotiqhe_example.yaml

ros2 service call /plan_grasp std_srvs/srv/Empty

Robotiq 2F-85

Please refer to wros2_tutorials/config/planner_params_robotiq85_example.yaml.

byobu

ros2 launch wros2_tutorials plan_grasp_launch.py config:=planner_params_robotiq85_example.yaml

ros2 service call /plan_grasp std_srvs/srv/Empty

Robotiq 2F-140

Please refer to wros2_tutorials/config/planner_params_robotiq140_example.yaml.

byobu

ros2 launch wros2_tutorials plan_grasp_launch.py config:=planner_params_robotiq140_example.yaml

ros2 service call /plan_grasp std_srvs/srv/Empty

Suction gripper

Please refer to wros2_tutorials/config/planner_params_suction_example.yaml.

byobu

ros2 launch wros2_tutorials plan_grasp_launch.py config:=planner_params_suction_example.yaml

ros2 service call /plan_grasp std_srvs/srv/Empty

CONVUM balloon hand SGB30

Please refer to wros2_tutorials/config/planner_params_sgb30_example.yaml.

byobu

ros2 launch wros2_tutorials plan_grasp_launch.py config:=planner_params_sgb30_example.yaml

ros2 service call /plan_grasp std_srvs/srv/Empty

Contributors

We always welcome collaborators!

Author

Takuya Kiyokawa
Weiwei Wan
Keisuke Koyama
Kensuke Harada

License

This software is released under the BSD-3-Clause License, see LICENSE.