A modular ROS 2 package designed for motion planning and control of a UR5 robotic arm, supporting joint-space, Cartesian-space, and sinusoidal trajectory generation. Compatible with Gazebo simulation and RViz visualization tools.

• Overview
• Package Structure
• Prerequisites
• Installation
• Usage
  • Sinusoidal Joint Motion
  • Joint-Space Trajectory
  • Cartesian-Space Trajectory
• Running Unit Tests
• License

This repository provides a ROS 2 control interface for manipulating a UR5 robotic arm, including:

• Sinusoidal joint motion for dynamic demonstrations
• Joint-space trajectory control between predefined configurations
• Cartesian-space trajectory planning using KDL kinematics

.
├── ros2_nr_motion_control                # Main control package
│   ├── CMakeLists.txt
│   ├── package.xml
│   ├── LICENSE
│   ├── assets/
│   │   └── NR_Bonus_Task.pdf
│   ├── include/
│   │   └── robot_arm_motion_planner/
│   │       └── robot_arm_motion_planner.hpp
│   ├── src/
│   │   ├── cartesian_space_trajectory_node.cpp
│   │   ├── joint_angle_publisher.cpp
│   │   ├── joint_sine_publisher.cpp
│   │   └── joint_space_trajectory_node.cpp
│   ├── launch/
│   │   ├── cartesian_space_trajectory.launch.py
│   │   ├── joint_space_trajectory.launch.py
│   │   └── sinusoidal_trajectory.launch.py
│   ├── test/
│   │   └── test_robot_arm_motion_planner.cpp
│   └── rviz/
│       └── view_robot.rviz
└── Universal_Robots_ROS2_Gazebo_Simulation   # Simulation submodule

• Ubuntu 22.04
• ROS 2 Humble
• Classic Gazebo (not Ignition)
• KDL (Kinematics and Dynamics Library)

Clone the repository recursively to include the simulation submodule:

git clone --recurse-submodules [email protected]:robotcopper/ros2_NR_manipulation_challenge.git

Then, build the workspace with colcon:

cd ros2_NR_manipulation_challenge
colcon build --symlink-install
source install/setup.bash

Generates a sinusoidal trajectory across all joints of the UR5 arm:

• Frequency: 0.2 Hz
• Amplitude: -0.5 radians
• Offset: -π / 2

ros2_nr_motion_control
└── src/
   └── joint_sine_publisher.cpp

ros2 launch ros2_nr_motion_control sinusoidal_trajectory.launch.py

Executes a smooth trajectory between two joint configurations:

• Point1: {3.0, -1.0, 0.0, -1.0, 1.0, 0.0}
• Point2: {3.14, -3.0, 2.0, 1.0, -1.0, 3.0}
• Joint Velocity: 1.0
• Joint Acceleration: 1.0

ros2_nr_motion_control
└── src/
   └── joint_space_trajectory_node.cpp

ros2 launch ros2_nr_motion_control joint_space_trajectory.launch.py

Plans a trajectory in Cartesian space using inverse kinematics:

• Pose1: (0.5, 0.5, 0.25, 0.0, π / 3, 0.0) (xyzrpy)
• Pose2: (-0.25, 0.25, 0.75, 0.0, -π / 2, 0.0) (xyzrpy)
• Linear Velocity: 0.2
• Linear Acceleration: 0.1

ros2_nr_motion_control
└── src/
   └── cartesian_space_trajectory_node.cpp

ros2 launch ros2_nr_motion_control cartesian_space_trajectory.launch.py

Unit tests are available for the core trajectory planning library robot_arm_motion_planner. To run the tests:

colcon test --packages-select ros2_nr_motion_control --event-handlers console_direct+

This will execute the test suite located in:

ros2_nr_motion_control
└── test/
    └── test_robot_arm_motion_planner.cpp

Make sure the workspace has been built beforehand. The output will be displayed directly in the console.

This project is licensed under the BSD 3-Clause License.