documentation:robots:heron:ros2

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documentation:robots:heron:ros2 [2024-05-21 10:04] – created Marcus Klangdocumentation:robots:heron:ros2 [2024-05-27 10:18] (current) – Marcus Klang
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 ===== State ===== ===== State =====
   * Robot description has been migrated and state is fully published (all joints, UR GPIO, MiR location in world and map)   * Robot description has been migrated and state is fully published (all joints, UR GPIO, MiR location in world and map)
 +  * Gripper is operational using the same driver as under ROS1 but is ported to ROS2
   * MiR Bridge is minimimally operating, publishing location information, can recive goal pose and will navigate if possible to that position   * MiR Bridge is minimimally operating, publishing location information, can recive goal pose and will navigate if possible to that position
   * UR5e Arm is operational and can be controlled through MoveIt   * UR5e Arm is operational and can be controlled through MoveIt
   * Code is available on git.cs.lth.se   * Code is available on git.cs.lth.se
   * All code has been tested and run using [[https://git.cs.lth.se/robotlab/ros-containers|ROS Containers]]   * All code has been tested and run using [[https://git.cs.lth.se/robotlab/ros-containers|ROS Containers]]
-  * Workspace command used within ROS Containers is not yet ported to ROS2 +  * Workspace command used within ROS Containers now supports ROS1 and ROS2 
-  * A single Rosinstall file is being worked on +  * An initial Rosinstall file is available in ROS Containers 
-  * Skiros2 under ROS2 template for Heron is not yet available+  * SkiROS2 under ROS2 template for Heron is not yet available 
 +  * All code is known to work under ROS2 Iron, ROS2 Humble has been retested and know works. 
 + 
 +==== Code ==== 
 +Code is available under ROS2 or Humble branches here: 
 +  * [[https://git.cs.lth.se/robotlab/heron/heron_robot/-/tree/humble?ref_type=heads|heron_robot]] 
 +  * [[https://git.cs.lth.se/robotlab/heron/mir-robot/-/tree/ros2?ref_type=heads|mir_driver]] 
 +  * [[https://git.cs.lth.se/robotlab/heron/robotiq-2f-85-minimal-driver/-/tree/ros2?ref_type=heads|Gripper Driver]] 
 +  * Universal Robots ROS2 drivers: [[https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver.git|UR ROS2 Github Repo]] - heron_robot works with released binaries.
  
 ==== Known issues ==== ==== Known issues ====
   * Motion planning through Rviz2 can currently only be done when starting motion planning seperated from a full bringup - this launches Rviz2 with only the arm based of the Heron URDF.   * Motion planning through Rviz2 can currently only be done when starting motion planning seperated from a full bringup - this launches Rviz2 with only the arm based of the Heron URDF.
   * MiR Bridge cannot publish all topics even if enabled (you will hit 100% CPU and Python cannot natively be multithreaded), they need to be translated topic by topic from JSON to ROS2 Messages - work on fast translation is underway   * MiR Bridge cannot publish all topics even if enabled (you will hit 100% CPU and Python cannot natively be multithreaded), they need to be translated topic by topic from JSON to ROS2 Messages - work on fast translation is underway
 +  * UR5e does not have a prefix in the current setup - this will be investigated and attempts will be made to add a prefix so that the joint names matches ROS1
  
  • documentation/robots/heron/ros2.1716278657.txt.gz
  • Last modified: 2024-05-21 10:04
  • by Marcus Klang