inomech/innobot

6DOF Robot Arm | ROS 2 Foxy based | 3D printed | open-source | designed for learning

INNOBOT

Visit INNOBOT Home page

ROS 2 Foxy | 3D printed | open-source | designed for learning

Get Started

Prerequisite knowledge required:

You must know the basics of Linux. Then, if needed, take the following free cours:

• Linux for robotics

Know the basics of Python and C++ are also important. Then, if needed, take the following free courses:

• Python3 for robotics
• C++ for robotics

Setup

To setup your environment follow instructions on INNOBOT Tutorials

Pick and Place in RViz

1. Clone this repository
2. cd into clonned repository
3. Set up environment for ROS2 by sourcing the following file, if you did not put the source command at the end of the .bashrc file in your home directory

source /opt/ros/foxy/setup.bash

4. If you haven't got ROS 2 Foxy on your machine setup ROS 2 Foxy on your Ubuntu 20.04 machine by executing the helper script

./ros-setup.sh

5. Build using

colcon build

6. Source setup file

source install/setup.bash

7. tart the launch files using the helper script

./ros2innobot.bash 

8. Set the position of the object in respect to the robots base in

nano src/innobot_core/config/params.yaml

9. Call the PnP client

   1. open new terminal
   2. cd into clonned repository
   3. Source setup file

   source install/setup.bash

   4. Call PnP client

   ros2 run innobot_core pnp_client.py --ros-args --params-file src/innobot_core/config/params.yaml

   5. Watch the PnP execution in RViz

Pick and Place with real hardware

TODO