yaskawa_mh180_ros2_control

This is a ROS2 package to simulate the industrial robot YASKAWA MOTOMAN MH180 in webots simulation world and path planning unsing moveit interface. the URDF description of robot is obtained from [motoman_industrail] (https://github.com/ros-industrial/motoman_experimental) more information about the technical specification of the robot can be refered from https://www.yaskawa.fr/yaskawa.fr/Robots%20d%27occasion/Brochures/Flyer_Robot_MH180_E_03.2017.pdf

Prerequisites

• Tested for ubuntu 22.04
• ROS 2 Humble
• Webots R2023b
• Webots ROS 2 interface

source ros2 environment and create a workspace

Source ROS2

. /opt/ros/$ROS_DISTRO/setup.bash

mkdir ~/ros2_ws
cd ~/ros2_ws

webots_ros2

git clone https://github.com/borsesaurabh2022/yaskawa_mh180_ros2_control.git src/yaskawa_mh180_ros2_control

Build everything

colcon build --symlink-install
. install/setup.bash

launch webot simulation world and moveit planner

command to launch webots simulation, controller and spawn the robot

  ros2 launch yaskawa_motomanmh180_simulation robot_launch.py

command to launch moveit planner

  ros2 launch yaskawa_motomanmh180_simulation moveit_launch.py