Looking for ROS2 demonstration application

[ivanperez]

Hi everyone!

I want to demonstrate some ROS 2 extensions we are creating. I’m looking for an existing, non-trivial open-source ROS 2 application that I could use (that is, that I could add our extensions to, for demonstration purposes only). Ideally, it should be something that we can run in a 3D simulation, so that we can demo things quickly without specific hardware and so that we can convey the ideas easily and visually.

Any suggestions?

Thanks,

Ivan

[smac]

Nav2 is a complete autonomous navigation system. That might be a good option. Parallel systems to it would be MoveIt2 or Autoware, but I think that’s as complex as it gets in open source before hitting the boundaries of complete products which naturally aren’t fully open-source.

If you need any help as you’re toying with Nav2, feel free to ping me.

[ivanperez]

Thanks! Is there a super easy demo of Nav2 that runs directly in some visual environment?

[ruffsl]

You could run the Nav2 demos from a Dev Container or via Codespaces:

Repeatable, Reproducible, and now Accessible! ROS Development via Dev Containers

Hey folks, I’d like to share a short teaser video demonstrating what I have been working on recently. [Repeatable Reproducible and Accessible ROS Development via Dev Containers and PWAs] I have been developing a template for open-source educational platforms to teach robotics to young and disadvantaged students. These students often have limited access to computing and hardware resources. The template provides them with free access to a professional-level robotics development exper…

[Russ76]

Linorobot2 is super easy to setup in sim. Juan has great instructions. It works “out of the box” with Nav2. Juan suggests Galactic but I’m using Humble with no problems.

GitHub - linorobot/linorobot2: Autonomous mobile robots (2WD, 4WD, Mecanum...

[brettpac]

Hi @ivanperez,
SMACC is another option that contains applications you can use right out of the box.The reference library that’s part of the repo consists entirely of applications that you could use as a starting point. The instructions on how to operate each application are found in each state machines readme.

Here are some previous posts with videos of it action with Nav2 and Moveit…

SMACC Kicks Off Summertime Dance Party at the AWS Warehouse - Part Deux

Hi Everyone, I had to start a new thread, since the 30 day timeline closed the original thread… Annoying. Anyways, here’s the third video of our SMACC’s summer dance series… [SMACC2 sm_dance_bot_warehouse] And here is a link just in case the link embedded in the image above doesn’t work. Source code for this example can be found here… Then, continuing in reverse order, here is the 2nd demo… [SMACC2 sm_dance_bot_warehouse] And here is a link just in case the link embedded in the…

SMACC Kicks Off Summertime Dance Party at the AWS Warehouse

[SMACC2 sm_dance_bot_warehouse] And here is a link just in case the link embedded in the image above doesn’t work. Source code for this example can be found here… I’m hoping this can become a community thing this summer. Rules go like this… Don’t tell me, show me. Video and Source Code. Cheers,

Introducing the SMACC MoveGroupInterface Client - A new way to program with MoveIt

Hello Everyone, I’d like to present the SMACC MoveGroupInterface Client. A new way to program with MoveIt!.. [Fetch Six Table Pick N Sort + The SMACC MoveGroupInterface Client] This is a video of the sm_fetch_six_table_pick_n_sort state machine found in the reference library… https://github.com/reelrbtx/SMACC/tree/master/smacc_sm_reference_library/sm_fetch_six_table_pick_n_sort_1 It’s using the MoveGroupInterface client found in the SMACC Client library… https://github.com/reel…

SMACC releases new family of trajectory based client behaviors for the SMACC MoveGroupInterface Client (with VIDEO!)

Ladies, Gentlemen, Droids, I’d like to present cb_pouring_motion and the new trajectory based family of client behaviors for the SMACC MoveGroupInterfaceClient. [Fetch Two Table Whiskey Pour] I highly recommend viewing the video at 720p. Here’s the code for this example… https://github.com/reelrbtx/SMACC/tree/noetic-devel/smacc_sm_reference_library/sm_fetch_two_table_whiskey_pour Instructions on how to run the example can be found in the readme (just scroll down). This example…

SMACC demonstrates concurrent control of two arms in ROS 2 using MoveIt2 and ros2_control

Hi Everyone, I had hoped to have this ready by the TSC meeting today, but we didn’t quite make it. But anyway, here it is… [SMACC2 demonstrates concurrent control of two robotic arms using ROS2, MoveIt2 and ros2_control.] Many thanks to @AndyZe, @bmagyar, & @tylerweaver who helped us get started in the right direction and agreed to back us up if we ran into deep waters. I’d also like to take this opportunity to say that it was an honor and a privilege to serve as a community repre…

Depending on your timelines and whether or not you want to use Nav2, I recommend using our Galactic branch. We just switched over to Humble and we have a few bugs in our Nav2 applications that we expect to have hammered out in a week or so.

Cheers,