niryo_one_simulation repository

Repository Summary

Checkout URI https://github.com/NiryoRobotics/niryo_one_ros_simulation.git
VCS Type git
VCS Version master
Last Updated 2019-09-27
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

README

Niryo One ROS Simulation

Licensed under GPLv3 (see LICENSE file)

Works on ROS Kinetic/Melodic.

ROS simulation for the robot Niryo One. You can control the robot using ros_control, Moveit, and see a 3D simulation on both Rviz and Gazebo.

Install from source

Get the code:

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
git clone https://github.com/NiryoRobotics/niryo_one_ros_simulation.git .

Build the packages:

cd ~/catkin_ws
catkin_make

Don't forget to use those commands before you try to launch anything (you can add them in your .bashrc) :

source /opt/ros/melodic/setup.bash # replace 'melodic' by your ROS version
source ~/catkin_ws/devel/setup.bash

Display Niryo One with Rviz

To simply display the robot and get to move each joint separately, run:

roslaunch niryo_one_description display.launch

Moveit demo

The Moveit demo will start Niryo One in Rviz and provide motion planning functionalities (with a 'fake' controller):

roslaunch niryo_one_moveit_config demo.launch

Start the Gazebo simulation

Developed and tested on ROS Melodic/Gazebo 9.

First start Gazebo (empty world) and Niryo One model:

roslaunch niryo_one_gazebo niryo_one_world.launch

Then, start the controllers (ros_control):

roslaunch niryo_one_gazebo niryo_one_control.launch

The ROS interface to control Niryo One is the same for the real robot and the Gazebo simulation.

The controller used for Niryo One is a joint_trajectory_controller (from ros_control). See the joint_trajectory_controller documentation to know how to use it.

If you want to add motion planning with Moveit, also run (after the controllers):

roslaunch niryo_one_moveit_config move_group.launch

You can now use the Python or C++ MoveGroup interface. This interface will call the Moveit motion planning functionality and then send the computed plan to the joint_trajectory_controller.

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://github.com/NiryoRobotics/niryo_one_ros_simulation.git
VCS Type git
VCS Version master
Last Updated 2019-09-27
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

README

Niryo One ROS Simulation

Licensed under GPLv3 (see LICENSE file)

Works on ROS Kinetic/Melodic.

ROS simulation for the robot Niryo One. You can control the robot using ros_control, Moveit, and see a 3D simulation on both Rviz and Gazebo.

Install from source

Get the code:

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
git clone https://github.com/NiryoRobotics/niryo_one_ros_simulation.git .

Build the packages:

cd ~/catkin_ws
catkin_make

Don't forget to use those commands before you try to launch anything (you can add them in your .bashrc) :

source /opt/ros/melodic/setup.bash # replace 'melodic' by your ROS version
source ~/catkin_ws/devel/setup.bash

Display Niryo One with Rviz

To simply display the robot and get to move each joint separately, run:

roslaunch niryo_one_description display.launch

Moveit demo

The Moveit demo will start Niryo One in Rviz and provide motion planning functionalities (with a 'fake' controller):

roslaunch niryo_one_moveit_config demo.launch

Start the Gazebo simulation

Developed and tested on ROS Melodic/Gazebo 9.

First start Gazebo (empty world) and Niryo One model:

roslaunch niryo_one_gazebo niryo_one_world.launch

Then, start the controllers (ros_control):

roslaunch niryo_one_gazebo niryo_one_control.launch

The ROS interface to control Niryo One is the same for the real robot and the Gazebo simulation.

The controller used for Niryo One is a joint_trajectory_controller (from ros_control). See the joint_trajectory_controller documentation to know how to use it.

If you want to add motion planning with Moveit, also run (after the controllers):

roslaunch niryo_one_moveit_config move_group.launch

You can now use the Python or C++ MoveGroup interface. This interface will call the Moveit motion planning functionality and then send the computed plan to the joint_trajectory_controller.

CONTRIBUTING

No CONTRIBUTING.md found.