Mobile manipulation with ROS 2

This learning path will teach the learner to use an existing robot configuration for MoveIt 2 / ROS 2. The learner will be able to describe the robot’s environment, plan trajectories, and execute them. Three methods will be taught, one method with a graphical-user interface, one method with programming in Python, and one method with programming in C++. The used robots will be mobile robots and robotic manipulators, as well as combination of them in the form of a multi-robot system of mobile manipulators. The blue competency area concerned by this learning path is “Flexible manufacturing systems”, “Advanced automation and robotics”, which includes autonomous and collaborative robot systems.By the end of this training engineers will be able to:
Understand the basic principles of mobile robotic manipulators, including their design, operation, and control.Familiarise themselves with the Robot Operating System 2 (ROS 2) framework and MoveIt 2 and their key features for robotics applications.Configure and connect a mobile robotic manipulator to ROS 2 using appropriate software interfaces that are the same for simulated- and real robots.Develop basic ROS 2 packages to control the movement of the mobile base and the robotics arm of a mobile robotic manipulator.Implement advanced ROS 2 features such as navigation and mapping to enable autonomous operation of the mobile robotic manipulator.Troubleshoot common issues and errors that may arise during the integration of mobile robotic manipulators with ROS 2.By achieving these learning outcomes, engineers will be equipped with the knowledge and skills necessary to successfully incorporate mobile robotic manipulators into ROS 2 and develop advanced robotic applications for various industries.
This Learning Path contributes to the achievement of the Learning Outcome “Innovation and technology skills and competencies”. in the following manner. Firstly, it covers an important area of mobile manipulation and couples with hands-on software development. Second, it covers the technical knowledge using the template of cutting-edge ROS2. Finally, the developed nuggets will serve as the foundation for building custom mobile manipulator control frameworks.