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cgasconb merged 3 commits into from
Apr 7, 2025
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cambios en el archivo readme #15

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cambios en el archivo readme
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branch changes made to the file robotnik_description,robotnik_sensors
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cgasconb Apr 7, 2025
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67 changes: 24 additions & 43 deletions README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -101,6 +101,7 @@ This package works with the different packages that Robotnik developed for the r

#### - Gazebo Sim 8.9.0
#### - ROS2 Jazzy
#### - Set Up an SSH Key for Git (Locally)


First, be sure that you have all the [Gazebo packages](https://gazebosim.org/docs/harmonic/install_ubuntu/) installed for ROS2.
Expand All @@ -121,44 +122,38 @@ cd ~/ros2_ws/src/
```
Then continue with the installation of packages.

1. [robotnik_description](https://github.com/RobotnikAutomation/robotnik_description/tree/ros2-devel)
```sh
git clone git@github.com:RobotnikAutomation/robotnik_description.git -b ros2-devel
```
1. [robotnik_description](https://github.com/RobotnikAutomation/robotnik_description/tree/jazzy-devel)
2. [robotnik_sensors](https://github.com/RobotnikAutomation/robotnik_sensors/tree/jazzy-devel)
3. [robotnik_common](https://github.com/RobotnikAutomation/robotnik_common)
4. [robotnik_interfaces](https://github.com/RobotnikAutomation/robotnik_interfaces)
5. [ur_description](https://github.com/RobotnikAutomation/Universal_Robots_ROS2_Description/tree/fix/gazebo-control-jazzy#)
6. [robotnik_simulation](https://github.com/RobotnikAutomation/robotnik_simulation.git#)

2. [robotnik_sensors](https://github.com/RobotnikAutomation/robotnik_sensors/tree/ros2-devel)
```sh
git clone git@github.com:RobotnikAutomation/robotnik_sensors.git -b ros2-devel
```
```sh
git clone git@github.com:RobotnikAutomation/robotnik_description.git -b jazzy-devel

git clone git@github.com:RobotnikAutomation/robotnik_sensors.git -b jazzy-devel

3. [robotnik_common](https://github.com/RobotnikAutomation/robotnik_common)
```sh
git clone git@github.com:RobotnikAutomation/robotnik_common.git -b ros2-devel
```
git clone git@github.com:RobotnikAutomation/robotnik_common.git -b ros2-devel

4. [robotnik_interfaces](https://github.com/RobotnikAutomation/robotnik_interfaces)
```sh
git clone git@github.com:RobotnikAutomation/robotnik_interfaces.git -b ros2-devel
```
git clone git@github.com:RobotnikAutomation/robotnik_interfaces.git -b jazzy-devel

5. [ur_description](https://github.com/RobotnikAutomation/Universal_Robots_ROS2_Description/tree/fix/gazebo-control-jazzy#)
```sh
git clone git@github.com:RobotnikAutomation/Universal_Robots_ROS2_Description.git -b fix/gazebo-control-jazzy
```
git clone git@github.com:RobotnikAutomation/Universal_Robots_ROS2_Description.git -b fix/gazebo-control-jazzy

6. [robotnik_controller](./debs/ros-humble-robotnik-controllers_0.0.0-20250401.134752-local_amd64.deb). This package is shared in the folder debs
```sh
sudo apt install debs/ros-humble-robotnik-controllers_0.0.0-20250401.134752-local_amd64.deb
```
git clone git@github.com:RobotnikAutomation/robotnik_simulation.git -b jazzy-devel

```

Install this repository:
Install the [robotnik_controller](./debs/ros-jazzy-robotnik-controllers_1.0.0-20250407.075635-7bed613_amd64.deb) within the debs folder:

```
git clone git@github.com:RobotnikAutomation/robotnik_simulation.git
sudo apt install ./robotnik_simulation/debs/ros-jazzy-robotnik-controllers_1.0.0-20250407.075635-7bed613_amd64.deb

```

Finally, compile workspace:
```
source /opt/ros/jazzy/setup.bash
cd ~/ros2_ws && colcon build
source install/setup.bash
```
Expand All @@ -181,20 +176,6 @@ Init the Gazebo world by launching:
ros2 launch robotnik_gazebo_ignition spawn_world.launch.py
```

<!-- There are some arguments that allows you to change the world, in case that you want to use a custom world.


| Arguments | Default | Description |
|------------|------------|-------------------------------------------------------------------------------------------------------------|
| world | demo | This arguments selects a world in [ worlds ](robotnik_gazebo_classic/worlds/) folder. |
| world_path | demo.world | In the case that you have your own world to simulate, introduce the path to the world file. |.

Example:
```sh
ros2 launch robotnik_gazebo_classic spawn_world.launch.py world:=maze
``` -->


#### Spawn Robot

Once you have the simulation running, you can spawn the robot in the world. For that, there is a launch file that starts all the nodes.
Expand Down Expand Up @@ -230,14 +211,14 @@ Available robot_model

Example:
```sh
ros2 launch robotnik_gazebo_classic spawn_robot.launch.py robot:=rbvogui
ros2 launch robotnik_gazebo_ignition spawn_robot.launch.py robot:=rbvogui
```

In case that your robot has a variation (check robots folder in robotnik_description package), you can select it by the argument **robot_model**.

Example:
```sh
ros2 launch robotnik_gazebo_classic spawn_robot.launch.py robot:=rbkairos robot_model:=rbkairos_plus has_arm:=true
ros2 launch robotnik_gazebo_ignition spawn_robot.launch.py robot:=rbkairos robot_model:=rbkairos_plus has_arm:=true
```

Then, the arguments _x_, _y_ and _z_ selects the position respect the world frame to spawn the robot.
Expand Down Expand Up @@ -279,7 +260,7 @@ There are two mobile bases with a manipulator that can be used:
To use them launch the spawn of the robot as follows:

```sh
ros2 launch robotnik_gazebo_classic spawn_robot.launch.py robot:=rbkairos robot_model:=rbkairos_plus has_arm:=true
ros2 launch robotnik_gazebo_ignition spawn_robot.launch.py robot:=rbkairos robot_model:=rbkairos_plus has_arm:=true
```

The arm has a joint_trajectory_controller configured that can be used with rqt_joint_trajectory_controller:
Expand Down