robotics

How do you build robotics applications.

tools

A list of tools used in robotics applications:

• ros/ros2
• colors and depth

  structured light

  infrared pattern to estimate the depth (kinect)

  time of flight

  diffraction with bouncing light

  stereo vision

  using multiple cameras

  LiDAR

• Isaac sim">framework on omniverse for robotics simulations
• bullet">collision libraries
• genesis">simulation platform for physical AI dev
• SLAM">building a map as you explore the environment
• movelt">A motion planning, manipulation, and kinematics framework for ROS
• computer aided design
• URFD">unified robots description

[ CAD Model ] –> [ URDF File (links, joints, sensors) ] –> [ RobotOps CI/CD Pipeline ]

v v [ Meshes (.stl/.dae) ] [ Simulators: Gazebo, RViz ] [ Controllers: ROS Control ]

computer-aided design (CAD), Unified Robot Description Format (URDF

robotics stack

zephyr

freertos

ros

ros2

We start with a simple example in ROS2 lyrical. We have nodes which communicate through ROS like:

webserver

actuators

sensors

(no term)

concepts

We have

bag files

a file format to store messaging data

rqt

a gui to display BAG files

We install ros2:

sudo apt install ros-lyrical-desktop
mkdir -p ~/lav/src/blender_twin/robot_ws/

Create a sample urfd file

<robot name="simple_bot">
  <link name="base_link">
    <visual>
      <geometry>
        <box size="1 1 0.2"/>
      </geometry>
      <material name="blue"/>
    </visual>
  </link>
</robot>

And launch the model

cd ~/lav/src/blender_twin/robot_ws/
echo $urfd > my_robot.urfd
colcon build
ros2 launch urdf_tutorial display.launch.py model:=my_robot.urdf

Summary: 0 packages finished [0.15s]

turtle example

We launch the turtle agent

source /opt/ros/lyrical/setup.bash
/opt/ros/lyrical/bin/ros2 run turtlesim turtlesim_node

We launch the turtle remote controller

source /opt/ros/lyrical/setup.bash
/opt/ros/lyrical/bin/ros2 run turtlesim turtle_teleop_key

Show the graphs connecting nodes

source /opt/ros/lyrical/setup.bash
/opt/ros/lyrical/bin/ros2 run rqt_graph rqt_graph

We look at the qrt_bag which manages and records bag files

source /opt/ros/lyrical/setup.bash
/opt/ros/lyrical/bin/rqt_bag 

sudo apt install python3-colcon-common-extensions
source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash

cd ~/lav/src/blender_cv/camera_esp32/src
colcon build