From e73e3d4846a9f6bc97506f14003013bec93249a1 Mon Sep 17 00:00:00 2001 From: Harold Kim Date: Sat, 6 Jun 2026 13:44:54 -0600 Subject: [PATCH 1/2] Setup clean Waybionic foundation and placeholder arm --- waybionic_bringup/CMakeLists.txt | 30 ++++ waybionic_bringup/launch/display.launch.py | 49 ++++++ waybionic_bringup/package.xml | 18 ++ waybionic_bringup/rviz/waybionic.rviz | 193 +++++++++++++++++++++ waybionic_description/CMakeLists.txt | 30 ++++ waybionic_description/package.xml | 18 ++ waybionic_description/urdf/waybionic.urdf | 34 ++++ 7 files changed, 372 insertions(+) create mode 100644 waybionic_bringup/CMakeLists.txt create mode 100644 waybionic_bringup/launch/display.launch.py create mode 100644 waybionic_bringup/package.xml create mode 100644 waybionic_bringup/rviz/waybionic.rviz create mode 100644 waybionic_description/CMakeLists.txt create mode 100644 waybionic_description/package.xml create mode 100644 waybionic_description/urdf/waybionic.urdf diff --git a/waybionic_bringup/CMakeLists.txt b/waybionic_bringup/CMakeLists.txt new file mode 100644 index 0000000..4d5db2d --- /dev/null +++ b/waybionic_bringup/CMakeLists.txt @@ -0,0 +1,30 @@ +cmake_minimum_required(VERSION 3.8) +project(waybionic_bringup) + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# find dependencies +find_package(ament_cmake REQUIRED) +# uncomment the following section in order to fill in +# further dependencies manually. +# find_package( REQUIRED) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + # the following line skips the linter which checks for copyrights + # comment the line when a copyright and license is added to all source files + set(ament_cmake_copyright_FOUND TRUE) + # the following line skips cpplint (only works in a git repo) + # comment the line when this package is in a git repo and when + # a copyright and license is added to all source files + set(ament_cmake_cpplint_FOUND TRUE) + ament_lint_auto_find_test_dependencies() +endif() + +install(DIRECTORY launch + DESTINATION share/${PROJECT_NAME} +) + +ament_package() diff --git a/waybionic_bringup/launch/display.launch.py b/waybionic_bringup/launch/display.launch.py new file mode 100644 index 0000000..8794257 --- /dev/null +++ b/waybionic_bringup/launch/display.launch.py @@ -0,0 +1,49 @@ +import os +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch_ros.actions import Node + +def generate_launch_description(): + # Path to your URDF file inside the description package + urdf_path = os.path.join( + get_package_share_directory('waybionic_description'), + 'urdf', + 'waybionic.urdf' + ) + + # Read the URDF content + with open(urdf_path, 'r') as infp: + robot_desc = infp.read() + + # Node 1: Robot State Publisher (Publishes 3D transforms) + robot_state_publisher_node = Node( + package='robot_state_publisher', + executable='robot_state_publisher', + name='robot_state_publisher', + output='screen', + parameters=[{ + 'robot_description': robot_desc, + 'use_sim_time': False + }] + ) + + # Node 2: Joint State Publisher GUI (Creates sliders to rotate the joint) + joint_state_publisher_gui_node = Node( + package='joint_state_publisher_gui', + executable='joint_state_publisher_gui', + name='joint_state_publisher_gui' + ) + + # Node 3: RViz2 + rviz_node = Node( + package='rviz2', + executable='rviz2', + name='rviz2', + output='screen' + ) + + return LaunchDescription([ + robot_state_publisher_node, + joint_state_publisher_gui_node, + rviz_node + ]) diff --git a/waybionic_bringup/package.xml b/waybionic_bringup/package.xml new file mode 100644 index 0000000..9d71f70 --- /dev/null +++ b/waybionic_bringup/package.xml @@ -0,0 +1,18 @@ + + + + waybionic_bringup + 0.0.0 + TODO: Package description + hoodu + TODO: License declaration + + ament_cmake + + ament_lint_auto + ament_lint_common + + + ament_cmake + + diff --git a/waybionic_bringup/rviz/waybionic.rviz b/waybionic_bringup/rviz/waybionic.rviz new file mode 100644 index 0000000..c00cf09 --- /dev/null +++ b/waybionic_bringup/rviz/waybionic.rviz @@ -0,0 +1,193 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /RobotModel1 + - /RobotModel1/Description Topic1 + Splitter Ratio: 0.5 + Tree Height: 555 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /2D Goal Pose1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz_common/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz_default_plugins/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz_default_plugins/RobotModel + Collision Enabled: false + Description File: "" + Description Source: Topic + Description Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /robot_description + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Mass Properties: + Inertia: false + Mass: false + Name: RobotModel + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz_default_plugins/TF + Enabled: true + Filter (blacklist): "" + Filter (whitelist): "" + Frame Timeout: 15 + Frames: + All Enabled: true + arm_link: + Value: true + base_link: + Value: true + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: false + Tree: + base_link: + arm_link: + {} + Update Interval: 0 + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: base_link + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/Interact + Hide Inactive Objects: true + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: rviz_default_plugins/SetInitialPose + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose + - Class: rviz_default_plugins/SetGoal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /goal_pose + - Class: rviz_default_plugins/PublishPoint + Single click: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /clicked_point + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Class: rviz_default_plugins/Orbit + Distance: 1.5597326755523682 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.785398006439209 + Target Frame: + Value: Orbit (rviz) + Yaw: 0.785398006439209 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 846 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1200 + X: 1138 + Y: 270 diff --git a/waybionic_description/CMakeLists.txt b/waybionic_description/CMakeLists.txt new file mode 100644 index 0000000..4f3deba --- /dev/null +++ b/waybionic_description/CMakeLists.txt @@ -0,0 +1,30 @@ +cmake_minimum_required(VERSION 3.8) +project(waybionic_description) + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# find dependencies +find_package(ament_cmake REQUIRED) +# uncomment the following section in order to fill in +# further dependencies manually. +# find_package( REQUIRED) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + # the following line skips the linter which checks for copyrights + # comment the line when a copyright and license is added to all source files + set(ament_cmake_copyright_FOUND TRUE) + # the following line skips cpplint (only works in a git repo) + # comment the line when this package is in a git repo and when + # a copyright and license is added to all source files + set(ament_cmake_cpplint_FOUND TRUE) + ament_lint_auto_find_test_dependencies() +endif() + +install(DIRECTORY urdf + DESTINATION share/${PROJECT_NAME} +) + +ament_package() diff --git a/waybionic_description/package.xml b/waybionic_description/package.xml new file mode 100644 index 0000000..05a03bc --- /dev/null +++ b/waybionic_description/package.xml @@ -0,0 +1,18 @@ + + + + waybionic_description + 0.0.0 + TODO: Package description + hoodu + TODO: License declaration + + ament_cmake + + ament_lint_auto + ament_lint_common + + + ament_cmake + + diff --git a/waybionic_description/urdf/waybionic.urdf b/waybionic_description/urdf/waybionic.urdf new file mode 100644 index 0000000..b6ec779 --- /dev/null +++ b/waybionic_description/urdf/waybionic.urdf @@ -0,0 +1,34 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + From 77bacc976ca0b65b76aa2ff08fddcee09b22e034 Mon Sep 17 00:00:00 2001 From: Harold Kim Date: Sat, 6 Jun 2026 14:32:49 -0600 Subject: [PATCH 2/2] Add build instructions for basic robot setup Added instructions for building and launching the robot simulation. --- BuildInstructions.md | 16 ++++++++++++++++ 1 file changed, 16 insertions(+) create mode 100644 BuildInstructions.md diff --git a/BuildInstructions.md b/BuildInstructions.md new file mode 100644 index 0000000..42a787e --- /dev/null +++ b/BuildInstructions.md @@ -0,0 +1,16 @@ +Basic placeholder robot with a base box and moveable cylinder arm. + +How to build: +- Run these commands in your workspace: +``` +colcon build --packages-select waybionic_description waybionic_bringup +source install/setup.bash +ros2 launch waybionic_bringup display.launch.py +``` +- RViz will pop up after the last command with two windows (one big one small) +- In RViz (big window): + - In **Global Options** (left panel), next to **Fixed Frame**, type `base_link` + - At the bottom left, click **Add**, scroll to and select **RobotModel**, click **Add** + - Click the small triangle next to **RobotModel** to expand its settings, look for **Description Topic** setting, type `robot_description` next to it + - Click **Add** again, scroll to and select **TF**, click **Add** + - Use the Joint State Publisher GUI (small window) to move the arm by moving the slider