iRC ROS Bringup

This contains the basic, non-MoveIt2 launch files and ROS2 controller configs.

When you want to use just a ReBeL arm the launch files here should suffice.

Install

ReBeL standalone

• nothing besides this repository required

  Mobile Platform

  In case you are planning to use a mobile platform look at irc_ros_navigation2 as well.

• For the mobile platforms laser scanners install the following packages (Add them to your workspace folder)
  • Sick300 ROS2
  • IRA Laser Tools (humble PR)
  • rqt_robot_steering (Also in the ubuntu repos)

Usage

You can start the robot driver as follows:

$ ros2 launch irc_ros_bringup rebel.launch.py rebel_version:=00 gripper:=schmalz_ecbpmi use_rviz:=false

Manual joint states then can be send in different ways. For actual applications please refer to the MoveIt pkg.

Control via command line

Found here. Change values accordingly.

Rebel 6DOF

$ ros2 topic pub /joint_trajectory_controller/joint_trajectory trajectory_msgs/msg/JointTrajectory '{header: {stamp: {sec: '"$(date '+%s + 6' | bc)"'}}, joint_names: ["joint1", "joint2", "joint3", "joint4", "joint5", "joint6"], points: [{positions: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], time_from_start: {sec: 0}}]}' --once

Rebel 4DOF

$ ros2 topic pub /joint_trajectory_controller/joint_trajectory trajectory_msgs/msg/JointTrajectory '{header: {stamp: {sec: '"$(date '+%s + 6' | bc)"'}}, joint_names: ["joint1", "joint2", "joint3", "joint4"], points: [{positions: [0.0, 0.0, 0.0, 0.0], time_from_start: {sec: 0}}]}' --once

Mobile platform (x linear and z angular)

$ ros2 topic pub /cpr_platform_controller/cmd_vel geometry_msgs/msg/TwistStamped '{header: {stamp: {sec: '"$(date '+%s + 6' | bc)"'}}, twist: { linear: {x: 0.0, y: 0, z: 0}, angular: {x: 0, y: 0, z: 0.0}}}' --once

or

$ ros2 topic pub /cpr_platform_controller/cmd_vel_unstamped geometry_msgs/msg/Twist '{linear: {x: 0.0, y: 0, z: 0}, angular: {x: 0, y: 0, z: 0.0}}' --once

ROS actions

$ ros2 action send_goal /joint_trajectory_controller/follow_joint_trajectory control_msgs/action/FollowJointTrajectory [...]

Control via rqt_robot_steering (Mobile platform only)

Note: Currently only works with geometry_msgs/msg/Twist, while we want TwistStamped instead, PR is here. In the meantime the type is set to Twist in the controller config file.

• Select topic as /cpr_platform_controller/cmd_vel
• W,A,S,D for directions
• Space to reset speed to 0

Launch files

Use ros2 launch irc_ros_bringup [...].launch.py --show-args for more information about the available launch arguments.

Controller files

• controller_igus_rebel_*dof.yaml implements position control via a JointTrajectoryController
• controller_cpr_platform_medium.yaml implements velocity control via a DiffDriveController. While the position commands are more precise for repeatability, the use of velocity commands causes smoother and straighter driving.