Unscrew Simulation

Overview

This ROS 2 project simulates a robotic arm that unscrews screws within a Gazebo simulation environment.

Dependencies

Before getting started, ensure the following dependencies are installed:

• ROS 2 Jazzy
• Gazebo Harmonic
• MoveIt 2
• ros2_control
• gz_ros2_control

You can follow the official documentation for installation instructions of each dependency.

Build

Use colcon to build the necessary packages:

colcon build --packages-select unscrew_simulation state_machine

Source your workspace after building:

source install/setup.bash

Launch

To start the simulation:

ros2 launch unscrew_simulation unscrew_demo.launch.py

To launch the state machine task planner:

ros2 launch state_machine task_planner.launch.py

Behavior

The robot will sequentially move to each screw, perform an unscrewing operation, and then return to the bin.

License

MIT