BCR Arm

https://github.com/user-attachments/assets/3a08bc22-2d3c-4b57-9e81-967f29c440c9

About

This repository contains a Gazebo Fortress simulation for a 7-DOF robotic arm. It includes ROS2 Control integration and MoveIt for motion planning. Currently, the project supports:

1. ROS2 Humble + Gazebo Fortress (Ubuntu 22.04)
2. ROS2 Jazzy + Gazebo Harmonic (Ubuntu 24.04)
3. Nvidia Isaac Sim

Humble + Fortress (Ubuntu 22.04)

Dependencies

Ensure you have ROS2 Humble and Gazebo Fortress installed.

# Install ROS2 Humble (if not already installed)
sudo apt update
sudo apt install -y ros-humble-desktop
# Install Gazebo Fortress
sudo apt install -y gz-fortress

Other dependencies can be installed using rosdep (from the root directory of your workspace):

# From the root directory of your workspace (e.g., ~/bcr_ws)
rosdep install --from-paths src --ignore-src -r -y

Build the project:

# From the root of your workspace
colcon build --symlink-install

# Source the workspace
source install/setup.bash

Launch Files

1. Gazebo Simulation with ROS2 Control and MoveIt2 Motion Planning

To launch the Gazebo simulation with ROS2 Control and MoveIt2 for motion planning, use the following command:

ros2 launch bcr_arm_moveit_config bcr_arm_moveit_gazebo.launch.py 

2. Gazebo Simulation with ROS2 Control

This is the primary launch file to bring up the full simulation environment.

ros2 launch bcr_arm_gazebo bcr_arm.gazebo.launch.py

• This uses ROS2 mock controllers for the arm. Use scripts from bcr_arm_gazebo to send commands to the arm.
• Supports launch argument: world_path:=<path_to_world>

Jazzy + Harmonic (Ubuntu 24.04)

Dependencies

Ensure you have ROS2 Jazzy and Gazebo Harmonic installed.

# Install ROS2 jazzy (if not already installed)
sudo apt update
sudo apt install -y ros-jazzy-desktop
# Install Gazebo Harmonic
sudo apt install -y gz-harmonic

Build topic_based_ros2_control from source (need to build from source for jazzy, to use Moveit with Isaac Sim):

git clone https://github.com/PickNikRobotics/topic_based_ros2_control.git
cd topic_based_ros2_control
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install --event-handlers log-
source install/setup.bash

Other dependencies can be installed using rosdep (from the root directory of your workspace):

# From the root directory of your workspace (e.g., ~/bcr_ws)
rosdep install --from-paths src --ignore-src -r -y

Build the project:

# From the root of your workspace
colcon build --symlink-install

# Source the workspace
source install/setup.bash

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