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Agiblebot Robot ROS2 Project

This project provides ROS 2 support for Agilebot Robotics products (http://www.sh-agilebot.com), including URDF description files, Gazebo configurations, and MoveIt2 configurations. Currently, it only includes the C5A robot, with plans to gradually add other models in the future.

Project Structure

.
├── asset                    # Common asset files
├── gbt_description          # Robot description files and URDF models
├── gbt_gazebo               # Gazebo simulation configurations
├── gbt_roob_driver          # ROS 2 low-level driver package, designed to subscribe to and publish topics related to the robotic arm’s low-level information (not yet implemented)
└── gbt_moveit_config        # MoveIt2 configurations

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Features

• Universal Robot Descriptions (URDF): Physical and visual models for each robot model.
• Gazebo Simulation: Simulate each robot model within Gazebo.
• MoveIt2 Support: MoveIt2 configuration for each robot model, enabling path planning and motion control.

Dependencies

• ROS2 Distribution: Humble
• Gazebo: For physics simulation
• MoveIt2: For path planning

Installation

1. Clone the repository locally:

   cd {your_ros2_workspace_directory}/src
   git clone <repo-url>

2. Build the project:

   cd {your_ros2_workspace_directory}
   colcon build
   source install/setup.bash

Quick Start

Launch URDF Visualization in RViz

ros2 launch gbt_description display_{robot_model}.launch.py

Example:

ros2 launch gbt_description display_c5a.launch.py

Start Gazebo Simulation

ros2 launch gbt_gazebo gazebo_{robot_model}_demo.launch.py

Example:

ros2 launch gbt_gazebo gazebo_c5a_demo.launch.py

Launch MoveIt2 Configuration

ros2 launch {robot_model}_moveit_config demo.launch.py

Example:

ros2 launch c5a_moveit_config demo.launch.py

Start MoveIt2 + Gazebo Simulation

Terminal 1: Launch the Gazebo simulation

ros2 launch {robot_model}_moveit_config gazebo.launch.py

Example:

ros2 launch c5a_moveit_config gazebo.launch.py

Terminal 2: Launch MoveIt2 motion planning

ros2 launch {robot_model}_moveit_config gazebo_moveit_rviz.launch.py

Example:

ros2 launch c5a_moveit_config gazebo_moveit_rviz.launch.py

Future Development Plan

• Add robot models and description files
  • C5A robot
  • Add more robot models
• Add more simulation configurations
  • C5A robot
  • Add more robot models
• Add more MoveIt2 configurations
  • C5A robot
  • Add more robot models
• Add control modules for physical robots
• Add control modules for the simulator

Contact

If you have any questions or suggestions, please submit them through the issue tracker.

Contribution

Contributions of code, opinions, and suggestions are welcome! If contributing code, please review the contribution guidelines.

License

This project is licensed under the BSD 3-Clause License. Please ensure you understand and agree to the terms before using the project.