tianyaohu/rb1_controller

🤖 RB1_Control Package 🚀

Welcome to RB1_Control, a comprehensive simulation package designed to offer an immersive experience in robot operations. This package allows users to simulate the control of a robot, including the movement of its lifting unit. Whether you are a student, educator, or robotics enthusiast, MyRobotSim provides a valuable tool for understanding and experimenting with robotic mechanisms.

📦 Installation Instructions

Before cloning this repo, ensure you have the following prerequisites installed on your system:

• Python 3.8 or later 🐍
• ROS2 Galactic 🌌
  ros2 --version
• Gazebo multi-robot simulator version 11.12+
  gazebo --version

Step 1: 📁 Clone Repo

cd ~/ros2_ws/src
git clone <repository-url>

Step 2: 🛠️ Build the Package

cd ~/ros2_ws && colcon build --packages-select rb1_ros2_description && source install/setup.bash

Expected Output

Step 3: 🕹️ Launch Simulation

ros2 launch rb1_ros2_description rb1_ros2_xacro.launch.py

Expected Output

🎉 Congratulations!🎉 You've Successfully Launched the Simulation!

🔴 Verification

Check Controllers are Available

ros2 control list_controllers

Check Interfaces are Available

ros2 control list_hardware_interfaces

🚗 Drive RB1

• Rotate 🔄

ros2 topic pub --rate 10 /rb1_base_controller/cmd_vel_unstamped geometry_msgs/msg/Twist "{linear: {x: 0.0, y: 0,z: 0.0}, angular: {x: 0.0,y: 0.0, z: 0.5}}"

• Revolute 🔁

ros2 topic pub --rate 10 /rb1_base_controller/cmd_vel_unstamped geometry_msgs/msg/Twist "{linear: {x: 0.5, y: 0,z: 0.0}, angular: {x: 0.0,y: 0.0, z: 0.5}}"

• STOP ⛔

ros2 topic pub --rate 10 /rb1_base_controller/cmd_vel_unstamped geometry_msgs/msg/Twist "{linear: {x: 0.5, y: 0,z: 0.0}, angular: {x: 0.0,y: 0.0, z: 0.5}}"

🏗️ Control Elevator

• Lifting UP ⬆️

ros2 topic pub /rb1_elevator_controller/commands std_msgs/msg/Float64MultiArray "data: [10.0]" -1

• Lifting DOWN ⬇️

ros2 topic pub /rb1_elevator_controller/commands std_msgs/msg/Float64MultiArray "data: [0.0]" -1

Disclaimer:

rb1_base_description is a package copied and modified files from these repositories/packages:

• RobotnikAutomation/rb1_base_commmon under the BSD License