match_mobile_robotics_jazzy

ROS 2 Jazzy (Ubuntu 24.04) mobile & manipulator robotics simulation + control workspace

Overview

This repository is a ROS 2 Jazzy monorepo-style workspace containing simulation, description, control, navigation and utility packages for multiple mobile robot platforms (MiR-like, MUR, UR arm in Gazebo / gz sim) plus example four–wheel-steering control.

Key components:

• match_gazebo: Launches Gazebo (Ignition / gz sim) worlds (maze, empty) and bridges selected topics via ros_gz_bridge.
• mir_* packages: Description, drivers, actions, navigation, REST API, messages/services for a MiR-style platform.
• mur_* packages: Description, MoveIt config, simulation launch for a MUR (mobile manipulator) configuration.
• ur_robot: Upstream UR (Universal Robots) simulation integration (gz based) via included .repos manifests.
• velocity_pub: Example four wheel steering velocity + steering angle commander driven by joystick (sensor_msgs/Joy).

NOTE: Some sub-packages have COLCON_IGNORE to exclude them until their dependencies are satisfied or they are ready.

Prerequisites

Tested on Ubuntu 24.04 (Noble) with ROS 2 Jazzy.

1. Install ROS 2 Jazzy base + desktop + dev tools and dependencies (gz sim, control, MoveIt, etc.). An example script is provided in ROS2_setup.sh (review before executing):

chmod +x ROS2_setup.sh
./ROS2_setup.sh   # optional convenience; may prompt for sudo

2. Source ROS 2 environment (add to your shell RC if desired):

source /opt/ros/jazzy/setup.bash

3. Install additional system packages (if not already present):

sudo apt update
sudo apt install -y python3-colcon-common-extensions ros-jazzy-ros-gz-sim ros-jazzy-ros-gz-bridge ros-jazzy-ros2-control ros-jazzy-ros2-controllers ros-jazzy-moveit-py ros-jazzy-srdfdom joystick
sudo apt install -y ros-jazzy-pcl-ros ros-jazzy-pcl-conversions ros-jazzy-pcl-msgs  # required by ira_laser_tools (scan merging)

4. (Optional) Install joy package for joystick input:

sudo apt install -y ros-jazzy-joy

Clone & Import External Dependencies

If you have not yet cloned this repository:

mkdir -p ~/ws/src
cd ~/ws/src
git clone https://github.com/match-ROS/match_mobile_robotics_jazzy.git
cd ..

Import any referenced external repositories (for UR simulation, etc.) using the provided .repos files (select the one matching Jazzy when relevant):

vcs import src < src/match_mobile_robotics_jazzy/ros2.repos

If vcs is missing:

sudo apt install -y python3-vcstool

Build

From the workspace root (one level above src/):

source /opt/ros/jazzy/setup.bash
colcon build --symlink-install --event-handlers console_direct+ --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo

Then source the local overlay:

source install/setup.bash

Re-build after changes:

colcon build --packages-select <pkg_name>

Run tests (copyright / lint / style):

colcon test --packages-select match_gazebo
colcon test-result --verbose

Running Simulation (Gazebo / gz sim)

Launch gazebo with a world (default: maze):

ros2 launch match_gazebo gazebo.launch.py world:=maze

Available worlds are found in match_gazebo/worlds/ (e.g. empty, maze – pass the base name).

The launch file internally:

• Sets GZ_SIM_RESOURCE_PATH to include package worlds.
• Includes ros_gz_sim launcher with -v 4 -r verbosity and real-time flag.
• Bridges topics via ros_gz_bridge for /b_scan, /f_scan (LaserScan) and /clock.

To list gz topics:

gz topic -l

MUR Launch Examples

Single MUR (mur620a) using reusable base:

ros2 launch mur_launch_sim mur620.launch.py world:=maze

Multiple MUR robots (mur620a–d) in one world (first robot starts Gazebo, others reuse it):

ros2 launch mur_launch_sim multi_mur620.launch.py world:=maze

Customize spawn positions / names by cloning multi_mur620.launch.py or creating a new launcher that includes mur_base.launch.py with different robot_name / x / y arguments. Base arguments available:

• robot_name (namespace + entity name)
• world (only first include needs to start Gazebo with it)
• x y z Y (spawn pose; yaw in radians)
• include_gz (true only for first robot)
• lidar_bridge (bridge that robot's /scan)

Example custom include (second robot without starting gz):

ros2 launch mur_launch_sim mur_base.launch.py robot_name:=mur620b include_gz:=false x:=2.0 y:=1.0

Four Wheel Steering Example (velocity_pub)

The velocity_pub package publishes steering positions and wheel velocities to controllers at:

• /forward_position_controller/commands (Float64MultiArray 4 elements)
• /forward_velocity_controller/commands (Float64MultiArray 4 elements)

Launch the node:

ros2 launch velocity_pub four_ws_control.launch.py

Modes (selected from joystick buttons in robot_control.py):

1. Opposite phase (LB)
2. In-phase (A)
3. Pivot turn (RB)
4. None (default / others)

Axes mapping (Xbox layout):

• axes[1] forward/back (linear x)
• axes[0] lateral (linear y)
• axes[3] yaw (angular z)

Currently the script zeroes steering positions and sets wheel velocities to 0.5 each cycle (lines near the end of timer_callback) – adjust logic before deployment.

Package Notes

• Some packages (e.g. mir_driver, mir_navigation) require additional hardware / map / config assets; ensure their dependencies are installed or selectively build using --packages-select.
• Ignore packages by creating a COLCON_IGNORE file in their directory (already used for some doc folders).
• UR simulation support: Use provided ur_simulation_gz.jazzy.repos if you want the full UR environment.

Development Workflow

Formatting / lint (Python):

pip install black==24.4.2
black .

General ROS code style: run ament_lint_auto through colcon tests where configured.

Environment convenience:

Add to ~/.bashrc:

source /opt/ros/jazzy/setup.bash
source ~/ws/install/setup.bash
export ROS_DOMAIN_ID=0  # or set per project

Troubleshooting

Issue	Cause	Fix
package not found	Overlay not sourced	source install/setup.bash
Missing /clock	Bridge not running	Ensure match_gazebo launch ran; check ros2 node list
Joystick no messages	joy not installed / permissions	Install ros-jazzy-joy; run sudo chmod a+rw /dev/input/js*
Build fails for UR	External repos missing	Run vcs import with correct .repos file

Contributing

1. Fork & create feature branch.
2. Add / update tests or simulation launch instructions if behavior changes.
3. Run formatting & lint tests.
4. Submit PR with concise description & reproduction / launch steps.

License

See LICENSE file.

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Feel free to open issues for missing instructions or feature requests.