Multi-Robot Simulation and RViz GUI Design

This repository contains the dependency packages collaboration_launch and rviz_collabo. The first package is responsible for launching the multi-robot simulation with the DARKO robot, consisting of the RB-Kairos base and the Franke Emika Panda arm attached to the base, in combination with the MiR 100 robot. The second package provides a custom RViz panel for navigation and motion planning in the aforementioned multi-robot simulation.

Install before Build (dependencies)

Install the following:

sudo apt-get install libspdlog-dev

Install ROS packages (dependencies with python3 and pip)

  #!/bin/bash
  sudo apt install -y python3-pip
  python3 -m pip install scipy
  python3 -m pip install roboticstoolbox-python
  sudo apt-get install -y ros-noetic-navigation
  sudo apt-get install -y ros-noetic-object-recognition-msgs
  sudo apt-get install -y ros-noetic-graph-msgs
  sudo apt-get install -y ros-noetic-ruckig
  sudo apt-get install -y ros-noetic-twist-mux
  sudo apt-get install -y ros-noetic-pybind11-catkin
  sudo apt-get install -y ros-noetic-robot-localization
  sudo apt-get install -y ros-noetic-mavros-msgs
  sudo apt-get install -y ros-noetic-gmapping
  sudo apt-get install -y ros-noetic-joint-trajectory-controller
  sudo apt-get install -y ros-noetic-warehouse-ros
  sudo apt-get install -y ros-noetic-eigenpy
  sudo apt-get install -y ros-noetic-rosparam-shortcuts
  sudo apt-get install -y ros-noetic-octomap-msgs
  sudo apt-get install -y ros-noetic-eigen-stl-containers
  sudo apt-get install -y ros-noetic-random-numbers
  sudo apt-get install -y ros-noetic-velocity-controllers
  
  echo "ROS packages installation completed."

Build

Clone this repository into the src folder of your workspace:

cd ~/path_to_workspace/src
git clone https://github.com/Liding-Zhang/Collaboration_Panel_rviz.git

Next, enter the root of your workspace and run:

catkin build

After building the packages, make sure to source the workspace:

source devel/setup.bash

Run the Simulation in Gazebo

First, the robots need to be spawned into Gazebo:

roslaunch collaboration_launch multi_robot_gazebo.launch

Next, launch the navigation and MoveIt functionalities of the robots:

roslaunch collaboration_launch multi_robot_nav.launch

Only launch RViz with the custom GUI panel afterwards, as it assumes the robot simulation is already running.
Option 1: Directly launch RViz with the Panel:

roslaunch rviz_collabo rviz_collabo.launch

OR direct launch
Option 2: Launch RViz without the Panel first:

rviz -d $(rospack find rbkairos_gazebo)/rviz/rbkairos_multi.rviz

And start the Panel manually by clicking on Panels -> Add New Panel -> CollaborationPanel.