robot-programming

This is exercise for robot-programming.

ROS2 Jazzy (Recommended)

⚠️ 重要: ネットワーク設定

演習中や同一ネットワークで複数人が ROS2 を起動すると、通信が相互に干渉してしまいます。 必ず以下の環境変数を設定してください:

export ROS_AUTOMATIC_DISCOVERY_RANGE=LOCALHOST

bashrc に追加して永続化する場合:

echo 'export ROS_AUTOMATIC_DISCOVERY_RANGE=LOCALHOST' >> ~/.bashrc
source ~/.bashrc

注意: ROS 2 Jazzy 以前では ROS_LOCALHOST_ONLY=1 が使用されていましたが、Jazzy で非推奨となり削除されました。代わりに ROS_AUTOMATIC_DISCOVERY_RANGE=LOCALHOST を使用してください。詳細は Improved Dynamic Discovery を参照してください。

JEDY Robot - Dual-arm Mobile Manipulator

For ROS2 Jazzy users, see jedy/README.md for the JEDY robot simulation.

Setup

# Create workspace
mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src

# Clone this repository
git clone https://github.com/jsk-enshu/robot-programming.git

# Import dependencies using vcs
cd ~/ros2_ws
sudo apt install -y python3-vcstool
vcs import src < src/robot-programming/.repos.jazzy

# Install dependencies
rosdep update
rosdep install --from-paths src --ignore-src -y -r

# Build
colcon build --symlink-install
source install/setup.bash

# Launch simulation with RViz
ros2 launch jedy_bringup jedy_gazebo.launch.py

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ROS1 (Deprecated)

Note: The following sections are for ROS1 and are deprecated. Please use ROS2 Jazzy with JEDY robot above.

Setup

---

$ source /opt/ros/noetic/setup.bash
$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/src
$ git clone https://github.com/jsk-enshu/robot-programming
$ wstool init .
$ wstool merge robot-programming/.rosinstall.${ROS_DISTRO}
$ wstool update
$ rosdep update
$ cd ..
$ rosdep install --from-paths src --ignore-src -y -r
# You will get a warning because some packages (turtlebot_bringup, turtlebot_dashboard, turtlebot_rapps, and kobuki_capabilities) have not resolved the rosdep key, but you can ignore it.
$ catkin build
# $ echo 'source ~/catkin_ws/devel/setup.bash' >> ~/.bashrc ## You may source the setup.bash by this line if you understand the difference between > and >>.

Turtlebot simulation

Start simulator

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$ source ~/catkin_ws/devel/setup.bash
$ roslaunch dxl_armed_turtlebot dxl_armed_turtlebot_gazebo.launch

Start RQT GUI

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$ roscd dxl_armed_turtlebot/launch

$ rqt --perspective-file enshu.perspective

Start Color Tracking node

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$ roslaunch opencv_apps camshift.launch image:=/camera/rgb/image_raw
$ rosrun image_view2 image_view2 image:=/camera/rgb/image_raw ~image_transport:=compressed

Start Checkerboard Tracking Tracking node

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$ roslaunch roseus_tutorials checkerboard-detector.launch rect0_size_x:=0.02 rect0_size_y:=0.02 \
      grid0_size_x:=7 grid0_size_y:=4 translation0:="0 0 0" \
      image:=image_raw  group:=/camera/rgb frame_id:=camera_rgb_optical_frame
$ ROS_NAMESPACE=/camera/rgb rosrun checkerboard_detector objectdetection_tf_publisher.py \
       _use_simple_tf:=true

cart_humanoid (JAXON) simulation

Start simulator

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$ source ~/catkin_ws/devel/setup.bash
$ roslaunch cart_humanoid cart_humanoid_gazebo.launch
# It may take a few minutes to start the simulator for the first time.
# If you launch simulators with the robot's base link unfixed, use the following command instead.
$ roslaunch cart_humanoid cart_humanoid_gazebo.launch fix_base_link:=false

Start RQT GUI

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$ rosrun rqt_joint_trajectory_controller rqt_joint_trajectory_controller

Documentations

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See online manual for Euslisp models and interfaces.

PDF files are also available from here