1. Introduction

This repository contains simulation models, and corresponding motion planning and controlling demos of the robotic manipulator xArm6 from UFACTORY. There are five modules:

• aruco_calibration
• perception_etflab
• real_bringup
• sim_bringup
• RPMPLv2 (https://github.com/roboticsETF/RPMPLv2.git)

The development and test environment are tested on Ubuntu 22.04 + ROS2 Humble.

2. How to use

2.1 Obtain source code of "xarm6-etf-lab" repository

Choose a location for a target workspace, e.g.:

cd ~/

and then clone the repository:

git clone https://github.com/roboticsETF/xarm6-etf-lab.git

2.2 Update "xarm6-etf-lab" repository

cd ~/xarm6-etf-lab  # Not required if you are cloning through IDE (e.g., VS Code)
make submodules

2.3 Update "xarm_ros2" submodule

cd ~/xarm6-etf-lab/src/external_modules/xarm_ros2
git submodule sync
git submodule update --init --remote

2.4 Update "gazebo_ros2_control" submodule

cd ~/xarm6-etf-lab/src/external_modules/gazebo_ros2_control
git submodule sync
git submodule update --init --remote

Optionally, if you want to change the robot initial configuration (all joint angles are set to zero by default), open the file ~/xarm6-etf-lab/src/external_modules/gazebo_ros2_control/gazebo_ros2_control/src/gazebo_system.cpp, and find the function GazeboSystem::registerJoints. Then, find the following code line:

initial_position = get_initial_value(joint_info.state_interfaces[i]);

Instead of that line, add the following code:

if (j == 3) 
  initial_position = M_PI;
else if (j == 4)
  initial_position = M_PI_2;
else
  initial_position = get_initial_value(joint_info.state_interfaces[i]);

Similarly, you can set any desired angle for the j-th joint.

2.5 Install dependencies

cd ~/xarm6-etf-lab
rosdep update
make dependencies

2.6 Build "xarm6-etf-lab" repository

make build

2.7 Source ros2 and gazebo environment

source source_dirs.bash

3. Run the simulation using RViz2, MoveIt2 and Gazebo

In apps/object_segmentation.cpp file within perception_etflab library, you can set config_file_path to be:

1. /perception_etflab/data/sim_perception_etflab_config.yaml - Obstacles are random and dynamic, and the law of their motion is defined within src/environments/Obstacles.cpp file. Point cloud representing obstacles is generated within the code, and then corresponding obstacles are published at a rate of 1/period [Hz] to objects_cloud topic. All configuration settings (including period) can be set in the used yaml file within random_obstacles node.
2. /perception_etflab/data/real_perception_etflab_config.yaml - Obstacles are static, and they are defined within world/etflab.world file in sim_bringup library. After combining point clouds from two cameras (left and right one), a combined point cloud is read from pointcloud_combined topic. Then, obstacles are published at a rate of cca. 5 [Hz] to objects_cloud topic after their segmentation is done.

First, type:

cd ~/xarm6-etf-lab

Then, launch the robot using one of the following three options:

First option (RViz2 + Gazebo):

ros2 launch sim_bringup xarm6_etflab.launch.py

# or just type:
make sim

Second option (MoveIt2 + RViz2 + Gazebo):

ros2 launch sim_bringup xarm6_moveit_gazebo.launch.py

Third option (MoveIt2 + RViz2):

ros2 launch xarm_moveit_config xarm6_moveit_realmove.launch.py robot_ip:=192.168.1.236 [add_gripper:=true]

Note: For each test file from apps folder, there is a corresponding yaml file withing data folder, where all necessary configurations can be set.

3.1 Test demo 1 (xarm6 moving)

# In the new tab type:
cd ~/xarm6-etf-lab

# In C++
ros2 run sim_bringup test_move_xarm6

# In Python
ros2 run sim_bringup test_move_xarm6.py

3.2 Test demo 2 (planners from RPMPLv2 library using cameras)

# In the new tab type:
cd ~/xarm6-etf-lab
ros2 run sim_bringup test_planners

Sim_demo2.mp4

3.3 Test demo 3 (task planning using planners from RPMPLv2 library and using cameras)

# In the new tab type:
cd ~/xarm6-etf-lab
ros2 run sim_bringup test_task_planning

3.4 Test demo 4 (real-time planning using DRGBT planner from RPMPLv2 library and using cameras)

# In the new tab type:
cd ~/xarm6-etf-lab
ros2 run sim_bringup test_real_time_planning

Sim_demo4.mp4

Sim_demo4_v2.mp4

3.5 Test demo 5 (real-time task planning using DRGBT planner from RPMPLv2 library and using cameras)

# In the new tab type:
cd ~/xarm6-etf-lab
ros2 run sim_bringup test_real_time_task_planning

4. Run the realsense cameras using RViz2

First, launch the cameras:

cd ~/xarm6-etf-lab
ros2 launch real_bringup realsense_etflab.launch.py

# or just type:
make cameras

5. Run the real robot using RViz2

In apps/object_segmentation.cpp file within perception_etflab library, config_file_path must be set to /perception_etflab/data/real_perception_etflab_config.yaml. Two cameras scan the environment, and after combining point clouds from the cameras (left and right one), a combined point cloud is read from pointcloud_combined topic. Then, obstacles are published at a rate of cca. 25 [Hz] to objects_cloud topic after their segmentation is done.

Note: For each test file from apps folder, there is a corresponding yaml file withing data folder, where all necessary configurations can be set.

First, launch the robot:

cd ~/xarm6-etf-lab
ros2 launch real_bringup real_xarm6_etflab.launch.py

# or just type:
make real

5.1 Test demo 1 (xarm6 moving)

# In the new tab type:
cd ~/xarm6-etf-lab

# In C++
ros2 run real_bringup test_move_xarm6

# In Python
ros2 run real_bringup test_move_xarm6.py

Real_demo1.mp4

5.2 Test demo 2 (bottle-and-glass operations)

# In the new tab type:
cd ~/xarm6-etf-lab
ros2 run real_bringup test_bottle_and_glass

Real_demo2.mp4

5.3 Test demo 3 (pick-and-place operations)

# In the new tab type:
cd ~/xarm6-etf-lab
ros2 run real_bringup test_pick_and_place

Real_demo3.mp4

5.4 Test demo 4 (pick-and-place operations using cameras)

# In the new tab type:
cd ~/xarm6-etf-lab
ros2 run real_bringup test_pick_and_place_using_cameras

Real_demo4.mp4

5.5 Test demo 5 (planners from RPMPLv2 library using cameras)

# In the new tab type:
cd ~/xarm6-etf-lab
ros2 run real_bringup test_planners

Real_demo5.mp4

5.6 Test demo 6 (task planning using planners from RPMPLv2 library and using cameras)

# In the new tab type:
cd ~/xarm6-etf-lab
ros2 run real_bringup test_task_planning

Real_demo6.mp4

5.7 Test demo 7 (real-time planning using DRGBT planner from RPMPLv2 library and using cameras)

# In the new tab type:
cd ~/xarm6-etf-lab
ros2 run real_bringup test_real_time_planning

Scenario1.mp4

Scenario2.mp4

5.8 Test demo 8 (real-time task planning using DRGBT planner from RPMPLv2 library and using cameras)

# In the new tab type:
cd ~/xarm6-etf-lab
ros2 run real_bringup test_real_time_task_planning

Scenario3.mp4

Scenario4.mp4

Scenario5.mp4