Hunter Robot Simulation

export GAZEBO_PLUGIN_PATH=/opt/ros/humble/lib:$GAZEBO_PLUGIN_PATH && echo "GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH"


ros2 launch mobile_manipulator_pltf_description sim_bringup.launch.py

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This repository contains the URDF description and Gazebo simulation for the Hunter V2 robot. The Hunter V2 is an Ackermann-steered mobile robot with front-wheel steering, simulated using ROS 2 control.

Official Robot Website: AgileX Hunter V2B

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Key Features

• Ackermann Steering: Configured for front-wheel steering with accurate kinematics.
• ROS 2 Control Integration: Leverages ros2_control for simulating robot kinematics and dynamics.
• URDF Description: Detailed robot description based on manufacturer specifications.
• Gazebo Simulation: Visualize and simulate the Hunter V2 robot in Gazebo.
• Rviz Support: Visualize the robot and interact with its joints using Rviz.

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Installation and Build Instructions

Prerequisites

Ensure you have a ROS 2 workspace set up. If not, create one:

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws
colcon build

Clone and Build

1. Clone this repository into your ROS 2 workspace:

   cd ~/ros2_ws/src
   git clone https://github.com/LCAS/hunter_robot.git

2. Install dependencies:

   rosdep update
   rosdep install --from-paths . --ignore-src -r -y

3. Build the workspace:

   cd ~/ros2_ws
   colcon build
   source install/setup.bash

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Packages Overview

This repository includes the following ROS 2 packages:

1. hunter_with_arm_description: URDF and robot description files. Also includes Gazebo simulation launch files and configuration (previously in hunter_with_arm_gazebo).
2. mobile_manipulator_pltf_description: Description and simulation files for the mobile manipulator platform. Includes Gazebo simulation launch files and worlds (previously in mobile_manipulator_pltf_gazebo).
3. mobile_manipulator_pltf_bringup: MoveIt configuration and bringup files for the mobile manipulator platform.

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Usage

1. Visualize the Robot in Rviz

To view the robot model and interact with its joints in Rviz:

ros2 launch hunter_with_arm_description robot_view.launch.py

This launch file starts Rviz and loads the Hunter V2 model.

hunter_rviz.webm

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2. Simulate the Robot in Gazebo

To load the Hunter V2 in a Gazebo simulation environment:

ros2 launch hunter_with_arm_description launch_sim.launch.py

hunter_gazebo.webm

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3. Control the Robot with Teleop

You can control the Hunter V2 using the teleop_twist_keyboard package. First, ensure the simulation is running, then execute:

ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args --remap cmd_vel:=/ackermann_like_controller/cmd_vel

Use the keyboard inputs to move the robot in the simulation.

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Robot Controller Configuration

The main configuration of the robot controller is available here

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Robot Specifications

The primary robot parameters, such as mass, wheel size, and turning angles, are derived from the manufacturer's specifications and the following reference repository:

• Hunter 2 Base URDF (AgileX Robotics)

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License

This project is licensed under the Apache License. See the LICENSE file for details.

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References

For more details on ROS 2 Control and Gazebo integration, see:

• ros2_controllers
• gazebo_ros2_control
• Getting Started with ros2_control
• ros2controlcli Documentation
• gazebo_ros2_control User Guide
• Video Tutorial

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Mobile Manipulator Platform ROS 2 Packages

This repository is designed for bringing up a mobile manipulator platform with the following packages: mobile_manipulator_pltf_bringup and mobile_manipulator_pltf_description to facilitate bringing up the robot, providing its description, and simulating it in Gazebo, part of the Agri-OpenCore (AOC) project.

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Josh's Notes

Testing description of a manipulator

To visualize the robot install this repository to you workspace and execute the following:

ros2 launch ur_description view_ur.launch.py ur_type:=ur5e