igus EduMove Mobile Robot
General Architecture
The control architecture of the EduMove system is modular and based on a combination of embedded computing, network communication, and the ROS2 framework:
ROS2 EduMove Package
The following key components are summarized:
Visualisierung:
- RViz2 is used to visualize robot state, sensor data, and navigation results.
Simulation:
- Gazebo is used as the simulation environment to model the platform and the robotic arm and to perform tests.
Navigation:
- Zur For localization and mapping, the RPLidar A2M12 is used in combination with a SLAM-Algorithmus.
- The Nav2-Stack is implemented for autonomous navigation, handling path planning and collision avoidance.
Workspace Architecture ROS
The packages in the ROS workspace are located in the /src folder. There are five packages:
edumove_bringup:
- All configuration files for the workspace are stored under config, divided into software and hardware.
- All launch files are included in this package, also divided into software and hardware.
- Pre-generated maps are stored under maps.
- An automated script for map saving is located under scripts.
edumove_controllers:
- Hybrid interface for controlling the edumove platform and ReBeL-arm.
edumove_description:
- Contains meshes and URDF files for the ReBeL arm and the mobile platform.
edumove_moveit_config:
- Configuration package for using MoveIt, customized for the EduMove system.
hardware_drivers:
- Repo RPLidar A2M12
How to start for the first time
The software solution can be run on a computer with ROS Jazzy installed, or in a Docker environment. Both options are also described in a README file within the ROS workspace (located in the project folder).
Hint:
- For more information for using Nav2 see Nav2 doc.
- For more information for using MoveIt2 see MoveIt2 doc.
With Docker, execute the following commands in a terminal started from the project folder:
Without Docker, execute the following commands in a terminal started from the project folder.
Attention: Make sure that all required packages and libraries are installed on your device (this depends on how you installed ROS). The packages can be found in the package.xml files of the ROS packages within the workspace.
For installing with rosdep (in case you not already installed rosdep)
With the dependencies installed, you can build your workspace:
How to start mapping
Do not forget to source the ROS workspace before launching.
A map is created as a pgm file, and a yaml file references it. The map looks as follows:
Do not forget to source the ROS workspace before launching.
The initial position must be set via the RViz interface after startup. To do this, click the following button in the top toolbar:
After that, click (and hold) on the map at the estimated position where EduMove is located, then drag in the direction EduMove is oriented, represented by the green arrow:
Setting a target position works in the same way. First, select 2D Goal Pose, then click on a point on the map and drag to set the desired target orientation. After this, the planning process within Nav2 begins:
Documents / Resources
 |
igus EduMove Mobile Robot [pdf] Instruction Manual EduMove Mobile Robot, EduMove, Mobile Robot, Robot |