Niryo Robot ROS 2 Humble

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Visualization of Niryo 2 Arm with ROS 2 Humble

This repository provides a detailed visualization of the Niryo 2

and Ned3 robotic arm using ROS 2 Humble. Below are the instructions to launch the project and visualize the operation of the robotic arm.

Introduction

The project is designed to demonstrate how ROS 2 Humble can be used to control and visualize the Niryo 2 robotic arm. ROS 2 (Robot Operating System) is a set of libraries and tools that help developers create robotic applications. This version, Humble Hawksbill, introduces improvements in node communication, robot control, and simulation tools.

Prerequisites

Before starting, make sure you have the following requirements installed on your system:

• Ubuntu 22.04 (recommended for full compatibility with ROS 2 Humble)
• ROS 2 Humble Hawksbill: You can follow the official installation instructions at ROS 2 Humble Installation.
• rviz2: A 3D visualization tool for ROS 2.

Installation

Follow these steps to set up your environment and clone the repository:

1. Install ROS 2 Humble:

   sudo apt update
   sudo apt install ros-humble-desktop

2. Set up the ROS 2 workspace:

   mkdir -p ~/ros2_ws/src
   cd ~/row2_ws/src

3. Clone this repository:

   https://github.com/jarain78/NiryoRobotRosHumble.git
   cd ..
   rosdep install --from-paths src --ignore-src -r -y

4. Build the workspace:

   colcon build

5. Source the workspace:

   source install/setup.bash

Launching the Project

To start the visualization of the Niryo 2 or Ned3 arm, use the following command:

Ned2

ros2 launch test_niryo_v2 slider_control.launch.py

This command will launch the necessary nodes and open rviz2 with the appropriate configuration to visualize the Niryo 2 arm in a 3D environment.

Ned3

ros2 launch test_niryo_v3 slider_control.launch.py

Or copy and paste this .sh file into your workspace and run it.

run_niryo.sh

This command will launch the necessary nodes and open rviz2 with the appropriate configuration to visualize the Ned3 arm in a 3D environment.

Usage

Once the project is running, you can interact with the Niryo 2 or Ned3 arm through the rviz2 interface. You can perform the following actions:

• Control the arm's movement: Use ROS 2 plugins to send motion commands.
• Visualize the arm's state: Monitor the position, orientation, and joint states of the arm in real time.
• Simulations: Conduct simulations to test different control algorithms and trajectory planning.

Contributions

Contributions to this project are welcome. If you have improvements, fixes, or new features you would like to add, please follow these steps:

1. Fork this repository.
2. Create a new branch (git checkout -b feature/new-feature).
3. Make your changes and commit descriptive messages.
4. Submit a detailed pull request explaining your changes.

Support

If you encounter any issues or have questions about using this repository, please open an issue on GitHub. You can also contact the project maintainers via email at jarincon@ubu.es.