devol

devol is an example ROS 2 Jazzy and Gazebo Harmonic demonstration, focused on simulating a robotic pick-and-place task using a Universal Robot (UR) manipulator and a Robotiq gripper. The project integrates robot description, motion planning with MoveIt, Gazebo simulation, and task execution via ROS 2 nodes. Packages include:

• devol_description: description of a UR manipulator with simple end effector and camera on wrist.
• diff_drive_description: description of a differential drive system.
• devol_drive_description: description of a Devol robot mounted ontop of a diff_drive system. (in-progress)
• diff_drive_sim: A collection of nodes for controlling a diff_drive robot.

Code Tested Directly on Ubuntu 24.04. Docker container tested on RHEL8 OS.

1.0 Directions for Running Diff Drive Simulation

If you are managing the packages on your own without the need for docker, you can skip instructions 1.2 and 1.3.

1.1 Clone Git Repository

git clone https://github.com/jtcass01/devol.git

1.2 Build and Start Docker container

If you don't have docker compose, you can install it here: https://docs.docker.com/compose/install/. Once it is installed run the following command to build the docker container from the root directory of the repository.

. bin/docker/build_sim_container.sh && . bin/docker/start.sh

1.3 Enter the docker Container

. bin/docker/interactive.sh

1.4 Build the packages

. bin/build.sh

1.5 Source Devol packages

. install/setup.bash

1.6 Run full simulation. -- You should see the robot plan and execute pathing to three goal points.

. bin/run.sh