Robotic Arm Simulation in ROS2 and Gazebo

Note:

I will take this project again very soon; the idea is to use state-of-the-art RL algorithms. Also, move to the new gazebo and the latest ROS version. Please let me know if you want to collaborate.

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

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.

• https://github.com/doosan-robotics/doosan-robot2
• https://github.com/doosan-robotics/doosan-robot
• https://www.doosanrobotics.com/en/Index

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

• https://github.com/noshluk2/ROS2-Ultimate-learners-Repository/tree/main/bazu
• https://github.com/TomasMerva/ROS_KUKA_env

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.