Configuring your robot for ROS 2

This learning path guides the learners through all required steps to configure their robot described with the Unified Robot Description Format (URDF) for its use with the robot control framework MoveIt from the more general robotic framework ROS (Robot Operating System). She/he will learn what are the necessary configuration files: the Semantic Robot Description Format (SRDF) to describe the planning groups and their associated plug-ins for inverse kinematics, the configuration of the joint limits, the configuration of the different planning algorithms, and the files to configure the low-level control of the robot joints. The blue competency area concerned by this learning path is “Flexible manufacturing systems”, “Advanced automation and robotics”, which includes autonomous and collaborative robot systems. This Learning Path contributes to the achievement of the Learning Outcome “Innovation and technology skills and competencies”. in the following manner. First,  it provides an in-depth knowledge of ROS2 that is the most cutting-edge and state-of-the-art robot control framework. Second, the skills developed in this learning path can serve as the foundation for developing novel technologies for robot manipulation and navigation. Finally, the developed material can bring forth innovative robotic solutions.
The following are expected learning outcomes: Understanding of MoveIt 2: Participants will gain an understanding of MoveIt 2 as a robot control framework and its capabilities, including planning, motion control, and manipulation. Familiarity with SRDF: Participants will learn about the Semantic Robot Description Format (SRDF) and how it is used to describe the robot’s planning groups, associated plugins for inverse kinematics, and other parameters that are associated with the robot’s capacity. Ability to configure joint limits and other parameters not part of the SRDF description: Participants will learn how to configure joint limits in MoveIt 2 as well as the configuration of inverse kinematics plugins. Ability to configure planning algorithms: Participants will learn how to configure planning algorithms in MoveIt 2 and understand how different algorithms can affect robot behaviour and performance. Participants will learn how to set parameters for the different chosen trajectory planners. Configuration of low-level control of robot joints: ros2_control is a framework for building robot controllers in ROS 2. It provides a set of standardised interfaces and components for controlling a robot, including hardware interfaces, controllers, and real-time communication infrastructure. Participants will learn about the different existing controllers and how the appropriate controller is chosen. Ability to integrate with other ROS packages: Participants will gain an understanding of how MoveIt 2 integrates with other ROS packages and how to leverage this integration to achieve desired robot behaviour. Practical experience with robot configuration: Participants will gain practical experience in configuring a robot for MoveIt 2, which can be applied to future projects and can help to build a foundation for a career in robotics.