Build a noVNC environment with Docker and run MyCobot using

Introduction

Notes on building an environment for simulating the Mycobot 280 M5 on a Mac in a Ros2 environment.

I'm writing this article because there were not many articles.

*I'm a ROS newbie, please comment if you have any pointers or additions 🙇.

Environment.

• M3 MacBook Air
• 16GB RAM

Building the Ros2 environment

Build a Ros2 (humble) environment on Docker

Build an Ubuntu GUI environment with Ros2 installed by referring to this

https://memoteki.net/archives/2955#index_id3

Create a docker container

*In case of M chip, add -arm64

shm-size: shared memory defaut is 64MB, which is not much, so you should set it to at least 2gb

docker run -p 6080:80 --security-opt seccomp=unconfined --shm-size=2G tiryoh/ros2-desktop-vnc:humble-amd64

After a successful boot, go to http://127.0.0.1:6080/へアクセスします

ubuntu should be booted

Building the MoveIt2 environment

This is done using the official tutorial

https://moveit.picknik.ai/main/doc/tutorials/getting_started/getting_started.html

Execute the commands in order

*ubuntu terminal

source /opt/ros/humble/setup.bash

Install rosdep (probably already installed)

sudo apt install python3-rosdep
sudo rosdep init
rosdep update
sudo apt update
sudo apt dist-upgrade

Install colcon mixin extension

sudo apt install python3-colcon-common-extensions
sudo apt install python3-colcon-mixin
colcon mixin add default https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
colcon mixin update default

Install vsctool

sudo apt install python3-vcstool

Create colcon workspace

mkdir -p ~/ws_moveit/src

Get the moveit source code

cd ~/ws_moveit/src
git clone -b humble https://github.com/moveit/moveit2_tutorials
vcs import --recursive < moveit2_tutorials/moveit2_tutorials.repos

Build the colcon workspace

sudo apt remove ros-humble-moveit*
sudo apt update && rosdep install -r --from-paths . --ignore-src --rosdistro humble -y

Build.

Takes tens of minutes to an hour.

About build arguments

In a docker environment, it is recommended to specify the following arguments to avoid possible memory shortages

• --executor sequential: build one by one
• --parallel-workers 2: Specify the number of simultaneous builds

If possible, increase docker shared memory to speed up the build time

cd ~/ws_moveit
colcon build --mixin release

source.

source ~/ws_moveit/install/setup.bash
echo ‘source ~/ws_moveit/install/setup.bash’ >> ~/.bashrc

About build errors

Various errors were encountered and are left as notes

• pick_ik errors

Reference

sudo apt-get remove ros-humble-pick-ik

• ament_cmake error

Run the build command as a privileged user

Reference.

su

Making the mycobot simulator work with moveit2

Create it with reference to this

https://www.youtube.com/watch?v=ZOIKEV_BCBE&t=566s

Get mycobot source for ROS2

Clone it under ws_moveit/src

git clone https://github.com/elephantrobotics/mycobot_ros2.git

Launch the Setup Assistant.

Select Create New MoviIt.

Select mycobot's URDF and press loadFile

mycobot_ros2/mycobot_description/urdf/mhcobot_280_m5/mycobot_280_m5.urdf

Models with a pump or camera at the tip are available, depending on the situation

Self collision settings

Generate collision matrix as default.

Virtual joints settings

Add virtual joints, give them an appropriate name and save them.

Define Planning Groups

Add with Add Group

Select kdl_kinematics_plugin for Solver

Kin. parameters file set to 3

Add Joints.

Add except g_base

Add Links.

Same as above, except g_base added.

Adding poses

Use the sliders to create poses.

Can also be added later.

Setting up the ROS2 controller

push Auto Add

Setting up a moveit controller

push Auto Add

Add Author and email.

Generate & save

Save under src in colcon workspace

build and install

cd ~/ws_moveit
colcon build --mixin release
. install/setup.bash

launch

ros2 launch mycobot_move_it demo.launch.py

Conclusion.

I was able to get it running on the simulator for now.

*The problem is that you can't use usb via Docker on a mac, so you can't run the actual device.

*This article is an English translation of the following article

https://qiita.com/hal_devf/items/dfc0c9094094d09b4960#%E3%81%8A%E3%82%8F%E3%82%8A%E3%81%AB