ENPM 662: Project 2

Project title: Cyber Shopper

Dependencies:

• sympy
• math
• numpy
• sys
• ROS Controller package and controller manager

sudo apt install ros-galactic-ros2-control ros-galactic-ros2-controllers ros-galactic-gazebo-ros2-control
sudo apt-get install ros-galactic-controller-manager

• Make sure that you start the controllers after spawning the robot

ros2 control load_controller --set-state start joint_state_broadcaster

ros2 control load_controller --set-state start velocity_controller

ros2 control load_controller --set-state start position_controller

Steps to execute the project:

• Create a ROS2 workspace.

• git clone the package in your ros2 workspace.:

cd ros2_ws/src
git clone "link to repository"

• Source your bashrc and ROS2 version, build your package, and Source your workspace.

cd ros2_ws/
source /opt/ros/galactic/setup.bash
colcon build
source install/setup.bash

• To spawn the model in empty world for teleop:

source ~/workspace/install/setup.bash
ros2 launch cyber_shopper gazebo.launch.py

Then open second terminal:-

source ~/workspace/install/setup.bash
ros2 run cyber_shopper teleoperation.py

• To visualize model in RViz with joint sliders:

ros2 launch cyber_shopper display.launch.py

• To visualize the inverse kinematic validation in gazebo:

source ~/workspace/install/setup.bash
ros2 launch cyber_shopper gazebo.launch.py

In the second terminal, run the following command:

ros2 run cyber_shopper circle_new.py

• UR5_Kinematics.ipynb file was used to perform Forward Kinematics and Inverse Kinematics
• CAD files in two folders named: CAD Assembly files
• To run the proportional controller make sure the position and orientation values in spawn_robot_ros2.launch.py are 0. For running the proportional controller

source WS_DIRECTORY/install/setup.bash
ros2 launch cyber_shopper gazebo.launch.py
ros2 run cyber_shopper proportional_controller.py

Results:

• RViZ visualization

• Inverse kinematics validation video

• Pick n Place operation

• Porportional Controller