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 (tested as a host machine)

• Ubuntu 22.04 PC
  • NVIDIA GeForce RTX 3070
  • NVIDIA Driver 470.256.02
  • Docker 26.1.1
  • Docker Compose 2.27.0
  • NVIDIA Docker 2.13.0

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 wros2_humble_container bash

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

   cd /ros2_ws && 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

Please refer to wiki page for usage examples.

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.