pvela2017 / The-Construct-CheckPoint-5-Master-ROS2

The Construct Masterclass

CheckPoint 5 Master ROS2

About The Project

The purpose of this project is to create a program that allows the robot to approach, detect and attach to a warehouse shelf. In the first part of the project, a simple ROS2 node that performs the pre-approach motion was created. This is, move the robot near the location of the shelf. Then a ROS2 node that performs the final approach motion was created.

Final approach:

• Detects the exact position of the shelf.
• Commands the robot right beneath the shelf.
• Attaches the robot to the shelf.

Getting Started

Software Prerequisites

• Ubuntu 22.04
• ROS1 Noetic
• ROS2 Galactic

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Installation

1. Clone the repo:

   cd ~ && \
   git clone https://github.com/pvela2017/The-Construct-CheckPoint-5-Master-ROS2

2. Compile the simulation:

   source /opt/ros/noetic/setup.bash && \
   cd ~/The-Construct-CheckPoint-5-Master-ROS2/simulation_ws && \
   catkin_make && \
   cd ~/The-Construct-CheckPoint-5-Master-ROS2/catkin_ws && \
   catkin_make && \
   source /opt/ros/galactic/setup.bash && \
   cd ~/The-Construct-CheckPoint-5-Master-ROS2/ros2_ws && \
   colcon build

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Usage

Local Simulation

1. Launch the simulation:

   source /opt/ros/noetic/setup.bash && \
   source ~/The-Construct-CheckPoint-5-Master-ROS2/simulation_ws/devel/setup.bash && \
   roslaunch rb1_base_gazebo warehouse_rb1.launch

2. Launch the ros bridge:

   source /opt/ros/noetic/setup.bash && \
   source ~/The-Construct-CheckPoint-5-Master-ROS2/catkin_ws/devel/setup.bash && \
   roslaunch load_params load_params.launch && \
   source /opt/ros/galactic/setup.bash && \
   ros2 run ros1_bridge parameter_bridge && \

3. Launch Pre-approach:

   source /opt/ros/galactic/setup.bash && \
   source ~/The-Construct-CheckPoint-5-Master-ROS2/ros2_ws/install/setup.bash && \
   ros2 launch attach_shelf pre_approach.launch.xml obstacle:=0.3 degrees:=-90

4. Launch with final approach:

   source /opt/ros/galactic/setup.bash && \
   source ~/The-Construct-CheckPoint-5-Master-ROS2/ros2_ws/install/setup.bash && \
   ros2 launch attach_shelf attach_to_shelf.launch.py obstacle:=0.3 degrees:=-90 final_approach:=true

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Key Topics Learnt

• Broadcast TFs.
• Load parameters.