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 wros_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

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.