Robotics1-project aims to realize a position control of the Mara robot in ROS2 with the physics engine Gazebo in order to move a box around.
A video of the simulation realized throughout this project can be found in the following Youtube link: https://www.youtube.com/watch?v=0mocsJkFYxQ
In order to run this project, multiple prerequisites are needed. Please refer to the steps in the MARA repository.
🚩 First, always update the ldmk_package:
source /opt/ros/foxy/setup.bash
cd ros2_ws
source install/setup.bash
colcon build --packages-select ldmk_package🧑🏫 To set the Mara robotic joint angles directly:
- step 1: launch the Mara robot in Gazebo
In terminal 1:
source /opt/ros/foxy/setup.bash
cd ros2_ws
source install/setup.bash
ros2 launch mara_gazebo mara2.launch.py- step 2: set the joint angles (eg. 0°,90°,0°,90°,0°,0°)
In terminal 2:
cd ros2_ws
source install/setup.bash
colcon build --packages-select ldmk_package
ros2 run ldmk_package anglespublisher_manual 0 90 0 90 0 0- step 3: open/close the gripper (eg. at 50%)
In terminal 3:
cd ros2_ws
source install/setup.bash
colcon build --packages-select ldmk_package
ros2 run ldmk_package fingersclient_manual 0.5👩🏫 To deploy a simulation of the Mara robotic arm multiple nodes must be run
- step 1: launch the Mara robot in Gazebo
In terminal 1:
source /opt/ros/foxy/setup.bash
cd ros2_ws
source install/setup.bash
ros2 launch mara_gazebo mara2.launch.py- step 2: listen to end-effector position or joint angles commands
In terminal 2:
cd ros2_ws
source install/setup.bash
ros2 launch ldmk_package maraik.launch.py- step 3: listen to keyboard commands to move and open the end-effector
terminal 3:
cd ros2_ws
source install/setup.bash
ros2 run ldmk_package teleop_keyboard run👂 To listen to a topic (eg. /cmd_ik or /cmd_fingers)
- additional terminal:
cd ros2_ws
source install/setup.bash
ros2 topic echo /cmd_ik