Authors:

• Mattia Dei Rossi - Innobotics
• Alvin Matarozzo - Innobotics
• Armando Selvija - Innobotics

ComboFox Simulation

This workspace has been developed and tested on ros2 humble.

Local setup and compile

Clone the repository and then install necessary dependencies:

sudo apt-get update
sudo apt-get install -y ros-humble-xacro \
    ros-humble-gazebo-ros2-control \
    ros-humble-ros2-control \
    ros-humble-ros2-controllers \
    ros-humble-camera-ros \
    ros-humble-gazebo-plugins \
    ros-humble-moveit-ros-move-group \
    ros-humble-pilz-industrial-motion-planner \
    ros-humble-moveit \
    ros-humble-gazebo-ros ros-humble-gazebo-plugins ros-humble-gazebo-ros-pkgs \
    ros-humble-navigation2 ros-humble-nav2-* \
    ros-humble-slam-toolbox \
    ros-humble-teleop-twist-joy \
    ros-humble-teleop-twist-keyboard\

rosdep update \
    && rosdep install --from-paths ./ -i -y --rosdistro humble \
      --ignore-src

Build the project:

cd combofox_simulation/
colcon build --symlink-install

Source the project:

. install/setup.bash

Run the simulation, including:

• Gazebo
• RViz2
• ROS2 navigation stack
• Move-group

ros2 launch neo_simulation2 simulation.launch.py

Additionally, rqt may be used for a first interaction with the robot (config file could be also loaded inside the app by GUI):

rqt --perspective-file rqt_controllers_commands.perspective

Docker

Build the docker image:

cd combofox_simulation/
docker build -t gazebo_ros2_control .

Enable GUI

sudo xhost local:docker

Run the demo:

sudo docker run -it --rm --name gazebo_ros2_control_demo --net host --env DISPLAY=:0.0 gazebo_ros2_control ros2 launch neo_simulation2 simulation.launch.py

Please note:

• GUI may takes several minutes to load
• It is suggested to use docker to simulate without GUI

Expected result

Arm's Movement Through Move-Group

Base's Movement Through Nav2

Movements Through rqt