- 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
-
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