Tinker simulation based on ROS2 and gazebo11, adapted from tinker_nav_sim

1. Prepration:
2. Install all dependecies(You should setup rosdep first following official documentation):

   rosdep install --from-paths src -y --ignore-src

3. Install gazebo_ros package

   sudo apt install ros-humble-gazebo-ros-pkgs

4. Install ros2 control dependency

   sudo apt-get install ros-humble-ros2-control
   sudo apt-get install ros-humble-ros2-controllers
   sudo apt-get install ros-humble-gazebo-ros2-control

5. Install Universal_Robots_ROS2_Driver package

   sudo apt-get install ros-humble-ur

6. If you need to do navigation simulation, install nav2 dependency

   sudo apt install ros-humble-navigation2
   sudo apt install ros-humble-nav2-bringup
   sudo apt install ros-humble-robot-localization
   sudo apt install ros-humble-slam-toolbox

All terminals should source the setup.bash(setup.zsh) in workspace first.

Be sure you are using gnome-terminal rather than xterm

Launch the visual model of tinker, which shows the RobotModel

ros2 launch tinker_sim display.launch.py

Launch the robot and controller, which test the robot and chassis controller

ros2 launch tinker_sim gazebo_sim.launch.py

Set use_teleop:=True to control the base by keyboard

Then run the following command in another ternimal to control the arm by moveit:

ros2 launch tinker_sim arm_moveit.launch.py

The UR simulation refers https://github.com/UniversalRobots/Universal_Robots_ROS2_Gazebo_Simulation To move it to Tinker, please change add the prefix "ur_" to all the controllers yaml except joint_limits.yaml in config/ur5. And set use_fake_hardware:=true in simulation.

The controller shaking problem and broken joints can be solved in UniversalRobots/Universal_Robots_ROS2_Gazebo_Simulation#11 and UniversalRobots/Universal_Robots_ROS2_Gazebo_Simulation#19

<joint name="${prefix}wrist_3_joint" type="revolute">
  [...]
  <dynamics damping="0.7" friction="1.0"/>
</joint>

<gazebo reference="${prefix}wrist_3_joint">
  <implicitSpringDamper>true</implicitSpringDamper>
</gazebo>

Launch slam toolbox and localization

ros2 launch navigation_sim gazebo_robot.launch.py headless:=False use_teleop:=True

Launch navigation stack

ros2 launch navigation_sim navigation.launch.py headless:=False 

Set 2D pose first, then set a goalpose in rviz.