ROS2 HUMBLE TUTORIAL. USING ROS2 WTH YOUR CUSTOM ROBOT
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- Опубліковано 8 вер 2024
- ROS2 HUMBLE tutorial. How to setup simulation of your custom robot in Gazebo. How to configure MoveIt2 with your custom robot. Problems, that you may encounter with, trying to simulate your robot in ROS2 and solutions to these problems.
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Thank you very much. was struggling to see my robot in gazebo for 3 days. Finally, I was able to do so.
Very informative.
I'm glad I helped you!
You saved my project and time. I appreciate your kindness.
Thank you very much, its great video
I'm glad, it helped you
Well done!! thank you so much - you saved my week, looking forward for your next videos
thanks a lot and lot and lot. i have been struggling for months and finally got resolved
You welcome! I'm glad I could help 😁
Дуже потрібне відео 👍 дякую вам💙💛
І Вам дякую, що подивилися!
You helped me solve my problem! Thank you!
Amazing tutorial. Thank you for sharing the knowledge.
Amazing content! This will definitely help me with creating my first ROS2 robot arm sim :)
Nice work - any chance of posting up a github link to the project?
Thank you for this video
Have you published the files anywhere? I couldn't find them in your patreon nor Github
Good video
Thank you!
Кстати в moveit2 уже появился setup assistant. Правда не очень стабильно работает но всё же своё дело делает.
Thanks so much. It's great video. Can you make a tutorial video for the part that recognizes and grips the object at the beginning of this video?
Awesome! I hope to be building something soon.
Cool!I wish you success!
thank you so much for your help, for some reason it did not work with my meshes (I mean I cannot see anything even after I modify the package.xml file), but it helped me learn a lot, if in the future you can share your code and meshes for testing, it will help us a lot know what is not working with our own urdf and configs
Інформативно
I am getting an error while launching the demo file "default logging verbosity is set to info using load_yaml() directly is deprecated. use xacro.load_yaml() instead."
Can you please suggest the possible reason
Hello, could you share the last launch file of gazebo with moveit? super useful video
Unfortunatly i accidently deleted the whole ros2 workspace with all my packages when reinstalling os on my pc. Probably i should have used github. I'm now trying to recreate this project watching my own video. Sorry, that i cann't help you.
Thank u!!
Thank you posting this tutorial. Super helpful. Any chance you can share the files?
Hi, could you please share the link for software models? I need a software model for a project, and the ones I have aren't working...
Could you please give your robot's urdf file link. Its a request Please... I want to see the joint and links parameters.
having difficulties accessing six_dof_arom_on_stand.urdf, please where did you get your urdf and the .dae meshes
can you share it; please I need it urgent,... thanks
Hi, this was a great help, but I'm still struggling with a few issues. Could you provide the launch files ?
Sorry, but I've lost this package when reinstalling the system. It was quite long ago.
nice video im new to ros2 ,,,, while I'm trying to create the gazebo_ros2_control pkg im getting an error
Hello Roboage,
How to give torque to the joints manually? (In gazebo from python script). I have a custom robot model with non-differential model, and have a custom controller for that. That is why, I want to read position, velocity and similar features of the robot legs and give certain torque values to the legs calculated by my controller. For that, I think there is no need to use MoveIt but don't know how to do it. Can you help me? Thanks.
Hi! I guess your custom controller need to inherit from controller interface class and you need to configure it as ROS2 plugin. In such a way you will be able to use your controller as usual ROS2 controller together with Gazebo hardware interface. And your controller will automatically read states from gazebo and write torque commands. And you will be able to send commands to your controller with python just as to usual action ROS2 server.
Can you use a different ros distro?
Very nice video! One question: should Gazebo be preinstalled in the system to create the gazebo_ros2_control?
Thank you! To use gazebo_ros2_control package, Gazebo should be installed.
@@roboage1027 Thanks! Could you please share the instruction on how to install Gazebo for ROS2 Humble!
@@achyutbora8288 Gazebo comes with ROS installation. So if you have ROS2 installed, you also have Gazebo installed. To install Gazebo separately, here's link to detail instaruction:ubuntu.com/blog/install-gazebo-for-ros-2-in-under-a-minute
@@roboage1027 Thanks a lot for the link! Gazebo was not installed alongside ROS2 in my system as I installed Ros2-Humble-Desktop, where Gazebo was not included.
The music is too loud. PLz re upload with music off.
i can't able to find the github link you mentioned for gazebo_ros2_control can you provide the link that would be helpful.
Do you have a github repo now....?
👍
Hi my gripper is not able to grasp the object, can you please help to explain how to fix this?
I didn't manage to do that either. So I ended up just creating temporal fixed joint between the gripper and the object. And that's it. Then I deleted this fixed joint as soon as the gripper was at drop location.
I am getting the following error:
[controller_manager]: The published robot description file (urdf) seems not to be genuine. The following error was caught:According to the loaded plugin descriptions the class gazebo_ros2_control/GazeboSystem with base class type hardware_interface::SystemInterface does not exist. Declared types are fake_components/GenericSystem mock_components/GenericSystem test_hardware_components/TestSystemCommandModes test_hardware_components/TestTwoJointSystem test_system test_unitilizable_system
I tried a couple of things, nothing has worked so far, could you please help me? is there any repo for this project?
how did you install gazebo ros2 control? do i also need ros2 control?
How do you specify which controllers will be used by Moveit for motion planning? Do you specify these in the Moveit Setup Assistant process or are they being read from the urdf?
Controllers are specified in the configuration file (with .yaml extension). Besides, you should specify path to this file in the urdf file as a parameter for gazebo plugin. I show all these steps in the video when i explain how to configure gazebo with ros 2.
@@roboage1027 I see. Since these are defined in the urdf as you showed, they do not need to be configured inside the Moveit Setup Assistant?
@@junaidamin2412 Yes. Moveit setup assistant generates yet another controllers configuration file. These are controllers of type follow joint trajectory. I don't know why they are needed. I guess for updating visualization in rviz. And that's all. Controllers that you are using to control your robot (in simulation or the real one) are up to you:)
@@roboage1027 It's slowly making sense. Thanks a lot!
Hello, did I have right, could I copy files from github to my computer? about ros_control in 3rd minute of video. Thanks
Yes, you should copy that package to your workspace. At least at the time of making that video, it was so. You should check, maybe nowadays there's another solution.
Hi Roboage. Great video. Loved it! I am also working on ROS2 humble and want to control my arm. I followed your video and was able to spawn my arm in Gazebo but after including gazebo_ros2_controller in URDF file, when I started gazebo simulation, my arm started rotating and flying on its own. Have you ever come across this kind of error? What can be the error here?
Hi! Thank you for your comment! Check inertial properties of your robot's links in URDF file. If they are wrong, simulation will be broken. Also check this link on ROS answers site:answers.ros.org/question/416011/strange-behavior-and-instability-of-six-axis-manipulator-in-ros-2-with-gazeboclassic-when-using-position-control/ Try it, maybe it will help.
@@roboage1027 Hi, The ROS answer was the solution. Thank you. This solved my issue. I was struggling since almost a week. Thank you so much. :)
I had to include properties to joints in URDF. (damping and friction).
Hi Roboage, sorry to bother you again. I am getting another problem now. In gazebo my arm can't grasp any object. The object simply slips out of the gripper. Have you come across such behavior?
@@akashparikh6204 Actually it is impossible to grasp object in Gazebo. In my video i just created temporal fixed joint between the gripper and the object, and then removed it when the gripper was at the drop location. You can find examples on GitHub on how to create fixed joint between two objects in Gazebo.
@@roboage1027 I did find some examples but all of them are for ROS and not for ROS2. Did you find any for ROS2?
Where do i get my launch file? Do i have to create it on my own or is it generated?
What should have I to write at minute 4:20 , I don't have the folders launch meshes and urdf, so the next part doesn't work for me, can u suggest me why I don't have them? Have I missed something?
Many thanks
This is strange. What's the error log? ${PROJECT_NAME} is the name of your project. This variable should be automatically set. share folder is also created automatically .
I'm sorry, I changed a bit the topic (I have modified the original one). It's not the name the problem but I don't have the folders! Thank you for the fast answer@@roboage1027
@@giorgiolongari9660 Are you running 'colcon build ' command from the workspace root folder?
Yes!
@@giorgiolongari2806 That's very strange. As I understood, there's no install folder in your workspace's folder? Or there is install folder but there's no share folder in it. It should be like so: your_workspace/install/your_project/share.
Does your workspace have such a structure? All this folders are created automatically when creating and building the package.
Do you still have the github link for your project? Would appreciate it thanks
which gazebo version is that, im having a lot of issues
Do i replace the content of the newly created ros package with the content of the GitHub folder before i build and source it?
After i copied and pasted the contents from GitHub to the package then built it, i got some errors
You didn't show how you get the launch and urdf files. The video is very confused for those who want learn.
is there a repo we can access for this?
I require some assistance with the modification of urdf of my the robotic arm. I have already created a design and successfully converted it to URDF (Unified Robot Description Format) for ROS2 (Robot Operating System 2). However, I am encountering several issues during the process, and I would greatly appreciate your valuable support in resolving them.
I used solidworks2urdf exporter and i had to modify joints origins and orientations manually because they were somewhat wrong. Also sometimes it is necessary to modify inertial properties of the links. What exact problem you have?
@@roboage1027 I have the error output with me. Is there any way to contact you so that I can share it? It's for my college project, and I have limited time to complete it. I kindly request your assistance.
@@angelorison6455 Copy and paste error message here in comments or you can find me in Instagram and send in messenger. I'll try to help.
Thank you for your video. Can you share your repo?
Unfortunately, i didn't make github account yet. And recently regretted it, cause accidentally deleted some of the code when reinstalling OS. So i'll definetly make one.
Do u offer private tutor? I have ufactory xarm 6.
What kind of tutor do you need?
I want to get my 6 axis robot up and running for planning and robot vision. Ufactory included a list of demos but I’m not sure how to install that into gazebo and moveit2 and connect to my robot IP address.
hello there, thanks a lot u got this on github?
can you guide how i can use my ros1 project files in ros2 what changes should i do
There is no short answer. You need to start with updating package.xml and CMakeLists.txt files and finish wth source code of your packages. You would need to remove and update everything, that is not compatible with ROS2.
@@roboage1027 can you please make a tutorial
Which files need to be removed and which files need to be update and what should be change
@@tahirfaris8408 There is nice tutorial on ROS2 docs site. docs.ros.org/en/humble/The-ROS2-Project/Contributing/Migration-Guide.html
4.55 --> i followed the steps but i miss the 'launch' and 'meshes' and 'urdf' map.
How did you got this?
I think it has to do something with the build-type?
Command line on 2.20 doesn't work for me.
Thanks for the video , Do you offer any technical support?$
Thank you very much! Didn't understand, what you mean by technical support.
@@roboage1027 I need some help connecting my mecanum robot to ros2, I can pay for the advice
@@RlxRlx1 I'm not an expert actually. I'm in the process of studying ROS 2 myself and have no experience in connecting real robot to ROS 2. Sorry 😞. But I'm planning to connect my robotic arm, that I'm currently building to ROS, when the project will be finished. For now, I'm just playing around with simulation in ROS 2.
can you share your source code? In my case, I have difficulties in reproducing your work.
ros2 ros2, ros to ros2 lol
in ament python need any edit to define config file?
I mostly work with C++ in ROS2. As i understand, you need to edit setup.py file, so that your config folder was installed in share directory of your package.
@@roboage1027 hey please can you explain the code you have added if i want a custom robot it was exported using fusion2urdf plugin
Sir, can you plase provide github link
does this also work in foxy?
It should, I guess.
where is source code ?
Darn it . This is soooo far from "intuitive" is it because it people live to overcomplicate stuff ?
Привіт. Чи міг би ти зробити таке відео українською мовою? Було б чудово.