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ROS Controller.md

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Instructions of how to control HMR Sim robots via ROS

You can control the robots in the simulation with ROS via python/C++ or terminal. Here we you show how to use the terminal. First, don't forget to source your ROS distribuction.

Making the robot move

To control the robot navigation, HMR Sim uses an interface defined by the Navigation 2 project for that. Here is the messages project in the Navigation 2 project and here is the file that defines the structure of a navigation action used to control the robots inside HMR Sim.

To send actions via ROS throught terminal use ros2 action <something>. Here is an example for HMR Sim:

ros2 action send_goal navigate_to_pose/wall_e nav2_msgs/action/NavigateToPose "{pose: {  pose: { position: {x: 525, y: 205, z: 1} } } }" --feedback

Explaining...

  • send_goal tells us we are sending a new objective.
  • navigate_to_pose/wall_e is the name of the action used by HRMR Sim to control a robot named wall_e.
  • nav2_msgs/action/NavigateToPose is the type of the action that's being sent.
  • "{pose: { pose: { position: {x: 525, y: 205, z: 1} } } }" is the structure of the goal being sent to HMR Sim.
  • --feedback Makes the command hold the terminal to wait for feedbacks.

In this example we send an objective to a robot called wall_e to go to the position x=525, y=205.

Making the robot grab and drop

A robot can grab and drop objects if the necessary systems are being used in the simulation. HMR Sim uses an interface defined by the MoveIt project to make a robot grad or drop objects. Here is the project with the messages used here, here is the file that defines the pickup interface and here is the file that defines the place interface.

Here is an example of how to send a goal to a robot to grab an object:

ros2 action send_goal wall_e/grab moveit_msgs/action/Pickup "{ target_name: 'medicine' }" --feedback

Explaining...

  • wall_e/grab is telling that we are sending a grab objective to a robot named wall_e.
  • moveit_msgs/action/Pickup is the type of the goal being sent.
  • "{ target_name: 'medicine' }" is the structure of the message being sent.

In this example we send a goal to wall_e to grab an object called medicine. Below, there is a command example to make wall_e drop it.

ros2 action send_goal wall_e/drop moveit_msgs/action/Place "{ attached_object_name: 'medicine' }" --feedback

Controlling with python

Here is an example of controlling a robot in HMR Sim with python, just sending a go to pose goal.

Here is another example of sending a go to pose goal but using py-trees.