Ros2_humble

ROS2 (Robot Operating System 2) is a flexible framework for developing robotic systems. It provides a set of tools, libraries, and conventions that aid in building robot applications. ROS2 is designed to be more scalable, distributed, and real-time capable compared to its predecessor, ROS.

1.1 Pick & Place

Pick-and-place is a common robotic task where a robot arm picks up an object from one location and places it in another. The arm's movement can be controlled using inverse kinematics, which involves calculating the joint angles required to achieve a desired end-effector position

1.2 Object Detection

Object detection is the process of identifying and locating objects within an image or a point cloud. ROS2 provides several packages and libraries that can be used for object detection tasks

Ensure proper sensor calibration to achieve accurate object detection results.

Group-09.mp4

2. Environment Setup

The project uses ROS2 Humble running on Ubuntu 22.04.2 LTS (Jammy Jellyfish)

The following tools are used for simulation and motion planning:

Gazebo: A physics-based 3D simulator extensively used in the robotics world.
RViz: A 3D visualizer for sensor data analysis and robot state visualization.

⚙️ Commands 2 Implement

Create a directory structure as ros2_ws/.
```
 mkdir -p ros2_ ws
```
The command "cd src" to change the current directory to a directory named "src" within the current working directory.
```
  cd src
```

Building and installs it with symbolic links (Colcon).

 colcon build --packages-select ros2_ws/ --symlink-instal

Install some dependencies and necessary packages:

sudo apt instal/ python3-vcstoo/
sudo apt instal/ ros-humble-test-msgs
sudo apt instal/ ros-humble-contro/-too/box
sudo apt instal/ ros-humble-gazebo-ros-pkgs 
sudo apt instal/ ros-humble-xacro
sudo apt instal/ ros-humble-joint-state-publisher-gui

Then you need to download and build in your workspace the following packages
- ros2_control framework
- gazebo_ros2_contro
Make sure to install these packages FROM SOURCE, and point to the correct branch otherwise, some problems could appear. Now you can clone our repository in your workspace and build the whole workspace.

Now open a new terminal and write the following lines:

cd ros2_ws
install/setup.bash
ros2 launch my_doosan_pkg my_doosan_gazebo.launch.py

Open another new terminal and write the following lines:

  cd ros2_ws
  install/setup.bash
  ros2 launch my_doosan_pkg my_doosan_rviz.launch.py

For motion planning

 ros2 launch my_doosan_pkg my_doosan_gazebo_controller.launch.py

Yolo
Now open a new terminal and write the following lines to launch yolobot_gazebo yolobot_launch
```
source yolobot/install/setup.bash
ros2 launch yolobot_gazebo yolobot_launch.py 
```

Now open another terminal and write the following lines for Yolov8_Inference

source yolobot/install/setup.bash
ros2 topic list
ros2 topic echo /Yolov8_Inference

Following with RVIz
```
rviz2
```

In another terminal run yolobot_recognition yolov8_ros2_subscriber

source yolobot/install/setup.bash
ros2 run yolobot_recognition yolov8_ros2_subscriber.py

3. Working