armada_ros2

This repository contains the descriptions and (soon) moveit configurations for the robot embodiments found at the NERVE Center in the robot ARMada. The armada_bringup package contains the launch files used to bring up the (soon) real and Gazebo simulatied robots. MuJoCo, PyBullet and Isaac Sim versions are planned but currently only Gazebo simulations have been implemented and tested.

Requirements

This project requires the following dependencies to be cloned into the same workspace:

• panda_ros2
• tmr_ros2

It is a good idea to keep all of these reposiories in the same workspace since they are all robot driver/description/bringup related.

ROS 2 Version

This project was built and tested using ROS 2 Jazzy.

Basic Usage

To run the example simulation using Gazebo and MoveIt:

ros2 launch armada_bringup gazebo_move_group.launch.py

You can see all available launch arguments by adding the --show-args flag:

ros2 launch armada_bringup gazebo_move_group.launch.py --show-args

Available Options

• No arguments
  Defaults to using the Panda robot with a simple block pedestal.

• Techman robot
  Launch the Techman TM5-700 robot using:

  ros2 launch armada_bringup gazebo_move_group.launch.py robot_make:=tmr robot_model:=tm5-700

This will launch the TM5-700 on the same block pedestal.

Robot Descriptions

Robot description files (URDF/Xacro) are located in:

armada_description/<robot_name>/xacro/

Each robot has its own subdirectory containing its Xacro description files. You can customize or reference these files for simulation, visualization, or further development. Other simulators should make used of the URDF/xacro format similar to Gazebo but I am currently unfamiliar with exactly what modifications may need to be made to these files in order to make them fully usable.