rby1_ros2

Warning

This software is currently under active development, and its stability is not guaranteed.
Various bugs may occur during use, so please proceed with caution.

Installation

Install system dependencies

sudo apt install -y build-essential cmake git

mkdir -p ~/sdk && cd ~/sdk

#install conan
pip install conan

#clone the repository
git clone --recurse-submodules git@github.com:RainbowRobotics/rby1-sdk.git

#install or build dependencies
cd rby1-sdk
conan install . -s build_type=Release -b missing -of build

cmake --preset conan-release
cmake --build --preset conan-release

Install ROS 2 package dependencies

sudo apt install -y \
ros-humble-ament-cmake \
ros-humble-xacro \
ros-humble-rviz2 \
ros-humble-robot-state-publisher \
ros-humble-joint-state-publisher \
ros-humble-urdf \
ros-humble-urdf-launch \
ros-humble-tf2-ros \
ros-humble-tf2-tools \
ros-humble-ros2-control \
ros-humble-ros2-controllers \
ros-humble-controller-manager \
ros-humble-hardware-interface \
ros-humble-transmission-interface \
ros-humble-moveit \
ros-humble-moveit-setup-assistant \
ros-humble-moveit-ros-planning \
ros-humble-moveit-ros-planning-interface \
ros-humble-moveit-ros-move-group \
ros-humble-moveit-visual-tools \
ros-humble-rosidl-default-generators \
ros-humble-action-msgs \
ros-humble-rclcpp-action \
ros-humble-rqt \
ros-humble-rqt-controller-manager

Set up environment

export CMAKE_PREFIX_PATH=/opt/ros/humble:$CMAKE_PREFIX_PATH
export RBY1_SDK_PATH=~/sdk/rby1-sdk
source /opt/ros/humble/setup.bash
source ~/rby1_ros2_ws/install/setup.bash

Build from source

Create ROS 2 workspace

mkdir -p ~/rby1_ros2_ws/src

Clone repo and build rby1_ros2 packages:

cd ~/rby1_ros2_ws

git clone https://github.com/dongridong/rby1-ros2.git src

colcon build --symlink-install --cmake-args
source install/setup.bash

How to Use

Manipulation

1. Bring Up

This command launches the robot bringup process:

• Establishes a connection to the robot via gRPC.
• Turns All Servos ON.
• Enables Control Manager (Control Enable).

Tip

We recommend verifying this step in simulation before running on the real robot.

ros2 launch rby1_bringup bringup.launch robot_ip:=<Rpc_ip_address:port_number>

2. MoveIt Config

ros2 launch rby1_moveit_config rby1_moveit.launch

Available Controllers

The following controllers are configured and available through ros2_control.
Each controller controls a specific set of joints:

Controller Name	Controlled Joints
rby1_right_arm_controller	right_arm_0 to right_arm_6
rby1_left_arm_controller	left_arm_0 to left_arm_6
rby1_torso_controller	torso_0 to torso_5
rby1_dualarm_controller	left_arm_0 to left_arm_6 + right_arm_0 to right_arm_6
rby1_head_controller	head_0, head_1
rby1_wholebody_controller	Torso + Both Arms + Head (※ Does not include wheels)

Caution

rby1_wholebody_controller controls the torso, both arms, and head only.
It does not include wheel or mobility joints, even though the name may suggest so.

Mobile Controller

Originally, the mobile control feature was intended to allow real-time parameter adjustments via the UI — for example, changing linear and angular velocity on the fly.
However, this functionality is not yet implemented.

Currently, to control the mobile platform, you must manually modify the velocity parameters in the mobile_publisher code, then restart the node to apply the changes.

Warning

This feature is still under development and may contain bugs.
As it may cause collisions with surrounding objects or people, please use it with caution.

Publish mobile control msg

ros2 run rby1_mobile_control mobile_publisher

Subscribe mobile control msg

ros2 run rby1_subscriber_pkg 07_mobile_control