yaskawa_mh180_ros2_control

This is a ROS2 package to simulate the industrial robot YASKAWA MOTOMAN MH180 in webots simulation world and path planning unsing moveit interface. the URDF description of robot is obtained from [motoman_industrail] (https://github.com/ros-industrial/motoman_experimental) more information about the technical specification of the robot can be refered from https://www.yaskawa.fr/yaskawa.fr/Robots%20d%27occasion/Brochures/Flyer_Robot_MH180_E_03.2017.pdf

Prerequisites

• Tested for ubuntu 24.04
• ROS 2 Jazzy
• Webots R2023b
• Webots ROS 2 interface

source ros2 environment and create a workspace

Source ROS2

. /opt/ros/$ROS_DISTRO/setup.bash

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src

webots_ros2

git clone https://git.fh-aachen.de/sb8431s/wirksam_moveit2_tutorial.git

Build everything

cd ~/ros2_ws/src
colcon build --symlink-install
source install/setup.bash

launch webot simulation world and moveit planner

command to launch webots simulation, controller and spawn the robot

  ros2 launch mh180_simulation mh180_simulation.launch.py launch_rviz:=false

command to launch moveit planner

  ros2 launch mh180_simulation mh180_control_bringup.launch.py launch_srvo:=true