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AGX ROS2 collection

Collection of ROS2 packages that with libraries, tutorials and resources for using ROS2 together with AGX Dynamics. Clone this repository into your workspace/src directory and build running the colcon build command from your workspace directory. Created by Algoryx Simulation AB under the Apache-2.0 license.

agx_tutorials

This packages collects tutorials for how to use ROS2 packages like ros2_control and moveIt together with AGX Dynamics, AGX Dynamics for Unity and AGX Dynamics for Unreal.

Franka Emika Panda robot

Launch the tutorial with:

ros2 launch agx_tutorials panda_demo_launch.py

It will start the AGX Dynamics simulation of the a Panda robot together with MoveIt and ros2_control with the JointTrajectoryController for follow the trajectories planned using MoveIt. In this example the command interface for the robot joint is position, meaning that the controller just forwards the positions to the robot joints. The robot joints holds the assigned position using the Lock1D secondary constraint.

Panda

There is also an launch file to launch the ROS2 stack without starting the simulation.

ros2 launch agx_tutorials panda_demo_no_simulation_launch.py

Then you must have launched AGX simulation somewhere else first. This can for example be useful when you have the simulation running in AGX Dynamics for Unity or AGX Dynamics for Unreal (examples for this is coming), or if you are on windows running the simulation natively in windows and the ros2 stack using WSL2.

You can now plan and execute trajectories using the rviz2 gui. Or run the move_in_square node to plan and move the end-effector in a square.

ros2 run agx_tutorials move_panda_in_square

Running on Windows

To run the simulation on windows checkout this repository and source your windows AGX installation. When in the root of the repository (where this README.md is) run the .bat file start_panda_simulation.bat position to start the simulation with the position command interface. After you have started the simulation you can open your WSL2 terminal and source the workspace where you have built these tutorial packages and run

ros2 launch agx_tutorials panda_demo_no_simulation_launch.py

The ROS2 stack will with MoveIt and ros2_control will run in WSL and speak ROS2 with the simulation running on windows.

More robots to come

...

Note on connection between ros2_control and AGX Simulation

ros2_control controllers are speaking to the AGX Simulation using the ROS2 package topic_based_ros2_control. The robot listens to sensor_msgs/JointState commands on the agx_joint_commands topic and sends the current joint states back on the agx_joint_states topic. This is currently asynchronous and sensitive to that the simulation runs in realtime.

Sending and receiving custom data types

By using the AnyMessageBuilder and AnyMessageParser it is possible to serialize and deserialize custom data types at runtime and send them as an agx_msgs::Any message. To see an example of this, first build the agx_msgs, agx_any_builder_parser and agx_any_msg_example packages. Source the workspace you built these packages in and then run the sender example:

> ros2 run agx_any_msg_example sender

In another terminal, source ROS2, your workspace and then run the receiver example:

> ros2 run agx_any_msg_example receiver