Doosan robotic arm, simulation, control, visualization in Gazebo and ROS2 for Reinforcement Learning.

Related tags

Deep Learning reinforcement-learning ros2 robotic-arm roscontrol gazebo-simulator doosan
Overview


Robotic Arm Simulation in ROS2 and Gazebo

General Overview

This repository includes: First, how to simulate a 6DoF Robotic Arm from scratch using GAZEBO and ROS2. Second, it provides a custom Reinforcement Learning Environment where you can test the Robotic Arm with your RL algorithms. Finally, we test the simulation and environment with a reacher target task, using RL and the 6DoF Robotic Arm with a visual target point.

Prerequisites

Library Version (TESTED)
Ubuntu 20.04
ROS2 Foxy
ros2_control link
gazebo_ros2_control link

How to run this Repository

In the following links you can find a step-by-step instruction section to run this repository and simulate the robotic arm:

  • Simulation in Gazebo and ROS2 --> Tutorial-link

    • Configurate and spawn the robotic arm in Gazebo.
    • Move the robot with a simple position controller.

  • Custom RL Environment --> Tutorial-link

    • A complete Reinforcement Learning environment simulation.

  • Reacher task with RL --> Cooming soon

    • Robot reacher task.

Citation

If you use either the code, data or the step from the tutorial-blog in your paper or project, please kindly star this repo and cite our webpage

Acknowledgement

I want to thank Doosan Robotics for their repositories, and packages where they took part of this code.

Also, thanks to the authors of these repositories and their tutorials where I took some ideas

Contact

Please feel free to contact me or open an issue if you have questions or need additional explanations.

The released codes are only allowed for non-commercial use.
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Comments
  • RuntimeError: Signal event received before subprocess transport available.

    RuntimeError: Signal event received before subprocess transport available.

    Hy while executing ``` cd ros2_ws

    . install/setup.bash

    ros2 launch my_doosan_pkg my_doosan_gazebo.launch.py

    I get the following error: 
```
`[INFO] [launch]: All log files can be found below /home/florian/.ros/log/2022-11-26-12-01-48-262247-florian-X580VD-213158
[INFO] [launch]: Default logging verbosity is set to INFO
Task exception was never retrieved
future: <Task finished name='Task-2' coro=<LaunchService._process_one_event() done, defined at /opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py:226> exception=PackageNotFoundError("package 'gazebo_ros' not found, searching: ['/home/florian/r2_ws/install/my_doosan_pkg', '/home/florian/r2_ws/install/gz_snap_ros2_control_demos', '/opt/ros/foxy']")>
Traceback (most recent call last):
  File "/opt/ros/foxy/lib/python3.8/site-packages/ament_index_python/packages.py", line 50, in get_package_prefix
    content, package_prefix = get_resource('packages', package_name)
  File "/opt/ros/foxy/lib/python3.8/site-packages/ament_index_python/resources.py", line 48, in get_resource
    raise LookupError(
LookupError: Could not find the resource 'gazebo_ros' of type 'packages'

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 228, in _process_one_event
    await self.__process_event(next_event)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 248, in __process_event
    visit_all_entities_and_collect_futures(entity, self.__context))
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
    futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
    futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
    futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
  [Previous line repeated 1 more time]
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 38, in visit_all_entities_and_collect_futures
    sub_entities = entity.visit(context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/action.py", line 108, in visit
    return self.execute(context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/actions/node.py", line 453, in execute
    ret = super().execute(context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/actions/execute_process.py", line 823, in execute
    self.__expand_substitutions(context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/actions/execute_process.py", line 668, in __expand_substitutions
    cmd = [perform_substitutions(context, x) for x in self.__cmd]
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/actions/execute_process.py", line 668, in <listcomp>
    cmd = [perform_substitutions(context, x) for x in self.__cmd]
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/perform_substitutions_impl.py", line 26, in perform_substitutions
    return ''.join([context.perform_substitution(sub) for sub in subs])
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/perform_substitutions_impl.py", line 26, in <listcomp>
    return ''.join([context.perform_substitution(sub) for sub in subs])
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_context.py", line 232, in perform_substitution
    return substitution.perform(self)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/substitutions/executable_in_package.py", line 76, in perform
    package_prefix = super().perform(context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/substitutions/find_package.py", line 79, in perform
    result = self.find(package)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/substitutions/find_package.py", line 96, in find
    return get_package_prefix(package_name)
  File "/opt/ros/foxy/lib/python3.8/site-packages/ament_index_python/packages.py", line 52, in get_package_prefix
    raise PackageNotFoundError(
ament_index_python.packages.PackageNotFoundError: "package 'gazebo_ros' not found, searching: ['/home/florian/r2_ws/install/my_doosan_pkg', '/home/florian/r2_ws/install/gz_snap_ros2_control_demos', '/opt/ros/foxy']"
Task exception was never retrieved
future: <Task finished name='Task-8' coro=<LaunchService._process_one_event() done, defined at /opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py:226> exception=RuntimeError('Signal event received before subprocess transport available.')>
Traceback (most recent call last):
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 228, in _process_one_event
    await self.__process_event(next_event)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 248, in __process_event
    visit_all_entities_and_collect_futures(entity, self.__context))
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 38, in visit_all_entities_and_collect_futures
    sub_entities = entity.visit(context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/action.py", line 108, in visit
    return self.execute(context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/actions/opaque_function.py", line 75, in execute
    return self.__function(context, *self.__args, **self.__kwargs)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/actions/execute_process.py", line 443, in __on_signal_process_event
    raise RuntimeError('Signal event received before subprocess transport available.')
RuntimeError: Signal event received before subprocess transport available.
[INFO] [robot_state_publisher-1]: process started with pid [213161]
[robot_state_publisher-1] Parsing robot urdf xml string.
[robot_state_publisher-1] Link base_0 had 1 children
[robot_state_publisher-1] Link link1 had 1 children
[robot_state_publisher-1] Link link2 had 1 children
[robot_state_publisher-1] Link link3 had 1 children
[robot_state_publisher-1] Link link4 had 1 children
[robot_state_publisher-1] Link link5 had 1 children
[robot_state_publisher-1] Link link6 had 0 children
[robot_state_publisher-1] [INFO] [1669460508.868788604] [robot_state_publisher]: got segment base_0
[robot_state_publisher-1] [INFO] [1669460508.868970600] [robot_state_publisher]: got segment link1
[robot_state_publisher-1] [INFO] [1669460508.868987886] [robot_state_publisher]: got segment link2
[robot_state_publisher-1] [INFO] [1669460508.868996441] [robot_state_publisher]: got segment link3
[robot_state_publisher-1] [INFO] [1669460508.869004264] [robot_state_publisher]: got segment link4
[robot_state_publisher-1] [INFO] [1669460508.869011514] [robot_state_publisher]: got segment link5
[robot_state_publisher-1] [INFO] [1669460508.869018581] [robot_state_publisher]: got segment link6
[robot_state_publisher-1] [INFO] [1669460508.869031652] [robot_state_publisher]: got segment world
[ERROR] [robot_state_publisher-1]: process[robot_state_publisher-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM'
[INFO] [robot_state_publisher-1]: sending signal 'SIGTERM' to process[robot_state_publisher-1]
[ERROR] [robot_state_publisher-1]: process has died [pid 213161, exit code -15, cmd '/opt/ros/foxy/lib/robot_state_publisher/robot_state_publisher --ros-args -r __node:=robot_state_publisher --params-file /tmp/launch_params_p8x92nsl']`
```
    opened by XnoTGitHub 1
Owner
David Valencia
Engineer. Enthusiast of robotics and ML. PhD student at University of Auckland
David Valencia
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