ROS 2 Simulation Interface Simple Warehouse Gazebo Demo

Licensing

The source code for this project is licensed under the Apache License 2.0.

The assets included in this repository are licensed under the Creative Commons Attribution 4.0 International (CC BY 4.0) License.

Installation

1. Clone and build the repo using colcon

mkdir ~/warehouse_gz_ws/src
cd ~/warehouse_gz_ws/src
git clone https://github.com/iche033/simple_warehouse

cd ~/warehouse_gz_ws/
colcon build --merge-install

Running the demo

In one terminal, launch the world

. ~/warehouse_gz_ws/install/setup.bash
ros2 launch simple_warehouse demo.launch.py

In another terminal, run the script for UR10 topic remapping

. ~/warehouse_gz_ws/install/setup.bash
cd ~/warehouse_gz_ws/src/simple_warehouse/scripts
python3 ur10_joint_command_splitter.py

In a third terminal, run the python demo script

. ~/warehouse_gz_ws/install/setup.bash
cd ~/warehouse_gz_ws/src/simple_warehouse/scripts
python3 warehouse_simulation_script.py --sim-backend gazebo

Known issues:

• When the script is run the first time, the robots could take some time to be loaded into sim on less powerful machines, and subsequent commands could fail. In this case, simply reset the simulation and run the script again. Asset loading should be much faster in subsequent runs.