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‎.gitignore‎

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# ===== ROS 2 =====
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build/
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install/
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log/
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# ===== Python =====
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__pycache__/
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*.pyc
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*.pyo
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*.pyd
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.venv/
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# ===== VS Code =====
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.vscode/
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# ===== Secrets =====
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*.gv
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*.pdf

‎src/manipulator_bringup/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.8)
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project(manipulator_bringup)
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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find_package(ament_cmake REQUIRED)
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install(
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DIRECTORY launch
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DESTINATION share/${PROJECT_NAME}
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)
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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set(ament_cmake_copyright_FOUND TRUE)
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set(ament_cmake_cpplint_FOUND TRUE)
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ament_lint_auto_find_test_dependencies()
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endif()
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ament_package()

‎src/manipulator_bringup/launch/simulated_robot.launch.py‎

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import os
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from launch import LaunchDescription
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from launch.actions import IncludeLaunchDescription
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from ament_index_python.packages import get_package_share_directory
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def generate_launch_description():
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gazebo = IncludeLaunchDescription(
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os.path.join(
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get_package_share_directory("manipulator_description"),
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"launch",
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"gazebo.launch.py"
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)
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)
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controller = IncludeLaunchDescription(
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os.path.join(
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get_package_share_directory("manipulator_controller"),
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"launch",
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"controller.launch.py"
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),
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launch_arguments={"is_sim": "True"}.items()
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)
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moveit = IncludeLaunchDescription(
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os.path.join(
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get_package_share_directory("manipulator_moveit"),
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"launch",
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"moveit.launch.py"
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),
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launch_arguments={"is_sim": "True"}.items()
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)
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remote_interface = IncludeLaunchDescription(
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os.path.join(
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get_package_share_directory("manipulator_remote"),
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"launch",
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"remote_interface.launch.py"
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),
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launch_arguments={"is_sim": "True"}.items()
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)
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return LaunchDescription([
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gazebo,
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controller,
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moveit,
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remote_interface,
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])

‎src/manipulator_bringup/package.xml‎

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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>manipulator_bringup</name>
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<version>0.0.0</version>
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<description>TODO: Package description</description>
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<maintainer email="naitikpahwa18@users.noreply.github.com">naitik</maintainer>
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<license>TODO: License declaration</license>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<depend>ros2launch</depend>
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<test_depend>ament_lint_auto</test_depend>
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<test_depend>ament_lint_common</test_depend>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>

‎src/manipulator_controller/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.8)
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project(manipulator_controller)
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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find_package(ament_cmake REQUIRED)
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find_package(ament_cmake REQUIRED)
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find_package(ament_cmake_python REQUIRED)
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find_package(trajectory_msgs REQUIRED)
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find_package(sensor_msgs REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(rclpy REQUIRED)
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install(
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DIRECTORY config launch
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DESTINATION share/${PROJECT_NAME}
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)
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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set(ament_cmake_copyright_FOUND TRUE)
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set(ament_cmake_cpplint_FOUND TRUE)
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ament_lint_auto_find_test_dependencies()
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endif()
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ament_package()

‎src/manipulator_controller/config/manipulator_controllers.yaml‎

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controller_manager:
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ros__parameters:
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update_rate: 10
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arm_controller:
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type: joint_trajectory_controller/JointTrajectoryController
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gripper_controller:
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type: joint_trajectory_controller/JointTrajectoryController
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# gripper_controller:
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# type: forward_command_controller/ForwardCommandController
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joint_state_broadcaster:
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type: joint_state_broadcaster/JointStateBroadcaster
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arm_controller:
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ros__parameters:
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joints:
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- joint_1
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- joint_2
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- joint_3
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command_interfaces:
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- position
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state_interfaces:
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- position
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open_loop_control: true
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allow_integration_in_goal_trajectories: true
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gripper_controller:
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ros__parameters:
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joints:
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- joint_4
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# Required only for the ForwardCommandController
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# interface_name: position
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command_interfaces:
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- position
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state_interfaces:
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- position
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open_loop_control: true
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allow_integration_in_goal_trajectories: true

‎src/manipulator_controller/launch/controller.launch.py‎

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import os
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument
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from launch.substitutions import LaunchConfiguration
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from launch_ros.actions import Node
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from launch.conditions import UnlessCondition
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from launch_ros.parameter_descriptions import ParameterValue
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from launch.substitutions import Command
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from ament_index_python.packages import get_package_share_directory
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def generate_launch_description():
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is_sim_arg = DeclareLaunchArgument(
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"is_sim",
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default_value="True"
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)
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is_sim = LaunchConfiguration("is_sim")
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robot_description = ParameterValue(
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Command([
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"xacro ",
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os.path.join(
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get_package_share_directory("manipulator_description"),
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"urdf",
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"manipulator.urdf.xacro",
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),
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]
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),
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value_type=str,
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)
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robot_state_publisher_node = Node(
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package='robot_state_publisher',
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executable='robot_state_publisher',
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condition=UnlessCondition(is_sim),
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parameters=[{"robot_description": robot_description}],
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)
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controller_manager = Node(
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package="controller_manager",
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executable="ros2_control_node",
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parameters=[
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{"robot_description": robot_description,
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"use_sim_time": is_sim},
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os.path.join(
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get_package_share_directory("manipulator_controller"),
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"config",
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"manipulator_controllers.yaml"
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)
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],
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condition=UnlessCondition(is_sim),
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)
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joint_state_broadcaster_spawner = Node(
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package="controller_manager",
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executable="spawner",
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arguments=["joint_state_broadcaster", "--controller-manager", "/controller_manager"],
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)
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arm_controller_spawner = Node(
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package="controller_manager",
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executable="spawner",
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arguments=["arm_controller", "--controller-manager", "/controller_manager"],
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)
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gripper_controller_spawner = Node(
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package="controller_manager",
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executable="spawner",
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arguments=["gripper_controller", "--controller-manager", "/controller_manager"],
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)
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return LaunchDescription([
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is_sim_arg,
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robot_state_publisher_node,
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controller_manager,
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joint_state_broadcaster_spawner,
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arm_controller_spawner,
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gripper_controller_spawner
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])

‎src/manipulator_controller/package.xml‎

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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>manipulator_controller</name>
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<version>0.0.0</version>
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<description>TODO: Package description</description>
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<maintainer email="naitikpahwa18@users.noreply.github.com">naitik</maintainer>
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<license>TODO: License declaration</license>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<buildtool_depend>ament_cmake_python</buildtool_depend>
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<depend>rclcpp</depend>
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<depend>rclpy</depend>
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<depend>trajectory_msgs</depend>
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<depend>sensor_msgs</depend>
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<exec_depend>xacro</exec_depend>
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<exec_depend>ros2launch</exec_depend>
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<exec_depend>controller_manager</exec_depend>
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<exec_depend>robot_state_publisher</exec_depend>
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<exec_depend>manipulator_description</exec_depend>
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<exec_depend>joint_state_publisher_gui</exec_depend>
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<test_depend>ament_lint_auto</test_depend>
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<test_depend>ament_lint_common</test_depend>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>

‎src/manipulator_description/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.8)
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project(manipulator_description)
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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find_package(ament_cmake REQUIRED)
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install(
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DIRECTORY meshes urdf launch rviz
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DESTINATION share/${PROJECT_NAME}
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)
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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set(ament_cmake_copyright_FOUND TRUE)
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set(ament_cmake_cpplint_FOUND TRUE)
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ament_lint_auto_find_test_dependencies()
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endif()
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ament_package()

‎src/manipulator_description/launch/display.launch.py‎

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import os
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument
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from launch.substitutions import Command, LaunchConfiguration
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from launch_ros.actions import Node
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from launch_ros.parameter_descriptions import ParameterValue
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from ament_index_python import get_package_share_directory
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def generate_launch_description():
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model_arg = DeclareLaunchArgument(name="model", default_value=os.path.join(
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get_package_share_directory("manipulator_description"), "urdf", "manipulator.urdf.xacro"),
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description="absolute path to the robot URDF files."
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)
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robot_description = ParameterValue(Command(["xacro ", LaunchConfiguration("model")]))
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robot_state_publisher = Node(
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package="robot_state_publisher",
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executable="robot_state_publisher",
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parameters=[{"robot_description": robot_description}]
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)
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joint_state_publisher_gui = Node(
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package="joint_state_publisher_gui",
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executable="joint_state_publisher_gui",
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)
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rviz_node = Node(
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package="rviz2",
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executable="rviz2",
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name="rviz2",
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output="screen",
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arguments=["-d", os.path.join(get_package_share_directory("manipulator_description"), "rviz", "display.rviz")]
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)
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return LaunchDescription([
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model_arg,
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robot_state_publisher,
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joint_state_publisher_gui,
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rviz_node
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])

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