🦾 FFW-1

1. Introduction

This is the FFW (Freedom From Work) project repository. It supports the control of the Follower device (hand, lift, and neck) as well as the Leader device (arms and hands).

This package supports ROS 2 Jazzy and Gazebo Harmonic on Ubuntu 24.04.

2. Prerequisites

Supported ROS Version

This package is compatible only with ROS 2 Jazzy. Ensure that ROS 2 Jazzy is properly installed.

Required Packages

Install the following dependencies:

sudo apt-get update && sudo apt-get install -y \
    libboost-all-dev \
    ros-jazzy-hardware-interface \
    ros-jazzy-controller-manager \
    ros-jazzy-ros2-controllers \
    ros-jazzy-tf-transformations \
    ros-jazzy-gz* \
    ros-jazzy-pal-statistics \
    python3-tk
sudo apt-get install -y ros-jazzy-moveit-* --no-install-recommends

USB Port Permissions

To enable communication with the hardware, add your user to the dialout group:

sudo usermod -aG dialout $USER

A login and logout are required.

3. Installation

1. Clone the Repository

Navigate to your ROS 2 workspace and clone the repository:

cd ~/${WORKSPACE}/src

git clone -b jazzy https://github.com/ROBOTIS-GIT/DynamixelSDK.git && \
git clone -b jazzy https://github.com/ROBOTIS-GIT/dynamixel_interfaces.git && \
git clone -b jazzy https://github.com/ROBOTIS-GIT/dynamixel_hardware_interface.git

2. Build the Package

Compile the package using colcon:

cd ~/${WORKSPACE}
colcon build --symlink-install

3. Source the Workspace

source ~/${WORKSPACE}/install/setup.bash

4. Execution Commands

Step 1: Choose Your Operating Mode

0️⃣ Calibration

When using it for the first time, wear the leader device and perform calibration to check the range of motion. This process is done only once initially.

ros2 launch ffw_bringup hand_calibration.launch.py

1️⃣ Leader-Follower Mode

For leader-follower functionality, use:

ros2 launch ffw_bringup ffw_teleop_with_hand.launch.py

Ensure proper connection and detection of leader and follower devices.

Operation Sequence upon Launch

1. Establish hardware connection with the follower device.
2. Move the follower device to the initial position.( Standing position with arms outstretched)
3. Establish hardware connection with the leader device.

2️⃣ Standalone Mode

For standalone mode, launch:

ros2 launch ffw_bringup hardware_follower_teleop_with_hand.launch.py

*Only the follower is connected to the hardware interface.

ros2 launch ffw_bringup hardware_leader_with_hand.launch.py

*Only the Leader is connected to the hardware interface.

ros2 launch ffw_bringup hardware_follower_standalone.launch.py

*Mode to operate the follower via MoveIt

3️⃣ Gazebo Simulation Mode

For Gazebo simulation mode, launch:

ros2 launch ffw_bringup gazebo.launch.py

Ensure that Gazebo Harmonic is properly installed and configured before running the simulation.

Step 2: Extend Functionality

1. MoveIt! Launch

Enable MoveIt functionality for advanced motion planning in RViz: *Before operation, either hardware_follower_standalone.launch.py or Gazebo must be launched.”

ros2 launch ffw_moveit_config moveit_core.launch.py

Move interactive markers to position the robotic arm, then click Plan and Execute.

2. GUI Teleop

ros2 launch ffw_teleop keyboard_control_teleop_with_hand.launch.py

This is for hardware_follower_teleop_with_hand.launch.py and hardware_follower_teleop_without_hand.launch.py

ros2 launch ffw_teleop keyboard_control_standalone.launch.py

This is for hardware_follower_standalone.launch.py

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:

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