This project features a robotic manipulator built using ROS2 Humble, Ignition Gazebo, and MoveIt2 for motion planning. The OMPL (Open Motion Planning Library) is utilized for path planning, ensuring efficient and collision-free trajectories. The system enables real-time simulation, kinematic control, and motion execution, making it ideal for robotic manipulation tasks in dynamic environments.
Software: ROS2 humble OS: UBUNTU 22.04
ROS2 packages used so far:
->ros2_control
Project Description:
Hannah is a voice controlled robot made using ROS2 framework , for the initial face I'm testing out the control logic in a simualted enviornment called gazebo
Present progress:
- Created urdf for the manipultor ,intergrated them with gazebo
launch file code:
ros2 launch hannahbot_description gazebo_launch.py
In terminal 2: run controller :
ros2 launch hannahbot_controller controller.launch.py
Then run moveit launch file:
ros2 launch hannahbot_moveit moveit.launch.py
