PRL MANTIS

Table of Contents

1. Project Overview
2. Included Packages
3. Prerequisites
4. Installation
   • Docker Setup
   • Build and Source Workspace
   • Setup Your Environment
5. Usage Tips
   • Simulation in RViz
   • Simulation in Gazebo + RViz
   • Using Simulation and MoveIt
   • Using Real Robot
6. Important Notes

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Project Overview

This project integrates a ROS 2 development environment with Docker and provides packages for the description and simulation of the UR5 workbench, developed by the Paris Robotics Lab and referred to as Mantis.

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Included Packages

1. docker-ros2

Provides a Docker environment for developing with ROS 2 (jazzy), including the UR Driver to interact with UR robots (UR3, UR5, UR10, etc.). The container includes all necessary tools for simulation and communication with both physical and simulated robots.

2. prl_ur5_description

Contains the Mantis description, including 3D model files necessary for visualizing and simulating the UR5 robot in ROS 2.

3. prl_ur5_gazebo

Launch files and configuration for simulating the UR5 robot in Gazebo.

4. prl_ur5_control

Configuration files for ROS 2 controllers and launch files to spawn controllers for Mantis parts.

5. prl_ur5_moveit

Configuration and launch files to control the UR5 robot using path planning solvers in ROS 2 with MoveIt.

6. prl_ur5_run

Launch file to access the real robot by starting the driver and enabling control.

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Prerequisites

• Docker installed (tested on linux/amd64; not supported on ARM).
• Compatible version of ROS 2 (Humble).
• Gazebo for simulation if intended.

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Installation

1. Docker Setup (for docker-ros2)

See docker-ros2/README.md

Create a shared folder on your host machine that will be mounted inside the Docker container:

mkdir ~/docker_shared

Build and run the Docker container using the provided script:

cd prl_ur5_ros2/docker_ros2
./start_docker.bash my_container ~/docker_shared ros

[!TIPS] If you want to disable GPU sharing, add the --no-gpu option when running the ./start_docker.bash script.

Warning

If you plan to use the Orbbec Femto Mega, you must install the Orbbec SDK ROS 2 on your local machine. Follow these steps:

git clone https://github.com/orbbec/OrbbecSDK_ROS2.git -b v2-main
cd OrbbecSDK_ROS2/orbbec_camera/scripts
sudo bash install_udev_rules.sh
sudo udevadm control --reload-rules && sudo udevadm trigger

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Rebuild and Source the Workspace

After installing dependencies, rebuild all packages:

Note

After the build, you may see an error related to the realsense package. You can ignore this error, as it does not affect the setup.

colcon build --symlink-install
source install/setup.bash

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3. Setup Your Environment

Modify configuration files to reflect your specific setup.

Important

Refer to prl_ur5_robot_configuration README for network and robot setup.

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4. Usage Tips

Important

If you want to use different controller than the default loaded one, you can modify the controllers_setup.yaml file in the prl_ur5_robot_configuration package to load the desired controller by default when launching the real robot. Please verify that the controller match with a controller into the plr_ur5_control/config/dual_arm_controller.yaml package.

Only visualize Mantis in RViz

ros2 launch prl_ur5_description view_mantis.launch.py

Simulate Mantis in Gazebo and Visualize in RViz

ros2 launch prl_ur5_gazebo start_gazebo_sim.launch.py

Using Simulation and MoveIt

ros2 launch prl_ur5_run sim.launch.py

Customize components (RViz, Gazebo GUI, MoveIt):

Alternatively, you can customize the launch by enabling or disabling specific components such as RViz, Gazebo GUI, or MoveIt. Use the following command with the desired parameters:

ros2 launch prl_ur5_run sim.launch.py launch_rviz:=<true|false> gazebo_gui:=<true|false> launch_moveit:=<true|false>

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Use with Real Robot

To use the UR5 robot with a real setup, you need to modify the robot's network info in standard_setup.yaml of the prl_ur5_robot_configuration package.

Launch control of the real robot:

ros2 launch prl_ur5_run real.launch.py

Optional customization:

Alternatively, you can customize the launch by enabling or disabling specific components such as RViz or MoveIt. Use the following command with the desired parameters:

ros2 launch prl_ur5_run real.launch.py launch_rviz:=<true|false> launch_moveit:=<true|false>

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Important Notes if you want to use the packages outside of the Docker environment:

• ROS 2 Version: Jazzy is recommended.
• Gazebo: Ensure it is installed and configured for ROS 2.
• Dependencies: If issues arise, consult individual package documentation or open an issue in the relevant repo.