Basic 2R Manipulator URDF + Gazebo Simulation

This is the basic 2R manipulator robot package for ROS URDF testing and Gazebo simulation testing

The package is ment to be used as a fast way to test a simple simulation in Gazebo and also provide a base reference for creating URDF models form scratch using Xacro (XML Macros).

Prerequisites

Tested on Ubuntu 20.04 with ROS Noetic full desktop installation. ( ROS Installation)

Dependencies for URDF RViz visualization:

• urdf
• joint_state_controller
• robot_state_publisher

This packages are already included in the full desktop installation, alongside RViz the 3D visualization tool for ROS.

Aditional dependencies for Gazebo simulation:

• controller_manager

The controller_manager is part of the ros_control set, to install the set use:

sudo apt-get install ros-noetic-ros-control ros-noetic-ros-controllers

In addition the simulation will run on Gazebo (simulation tool for robotics), it is included in the full desktop ROS installation, but it can be downloaded here.

Installation

To install this package clone the repository in your ROS workspace (usually ~/catkin_ws/src/). Build the workspace and source the new files.

Usage

To use the URDF model for RViz visualization, use:

roslaunch basic_2r_gazebo rviz.launch 

To simulate the model in Gazebo, use:

roslaunch basic_2r_gazebo 2r_gazebo.launch

For double robots in Gazebo, use:

roslaunch basic_2r_gazebo double_2r_gazebo.launch

Authors

• Jurgen Krejci - JurgenHK - Initial Work

Contributing

Feel free to fork and clone this repo. This is the list of issues, fixes and other features that need a to be worked or reviewed:

• Review and modify 2r_gazebo.launch, Gazebo and ROS should be initilized from the launch file
• Test on ROS Melodic (Collect Issues and provide support)
• Test on ROS Kinetic (Collect Issues and provide support)