🤖 FRBot Workspace

Welcome to the FRBot project, a Mobile Manipulator workspace for ROS2 Humble. This document provides a comprehensive guide to the system's architecture, setup, and operation.

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📋 Table of Contents

• 🚀 Main Launch File
• 🛠️ System Configuration
• 🏗️ Package Structure
• 📦 Build Instructions
• ▶️ Execution
• 🎯 Using Pick & Place
• 🔌 Topics

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🚀 Main Launch File

To bring the entire system online, use the main launch file:

ros2 launch robot_bringup full_system_with_pickplace.launch.py

This command executes all system components in a coordinated sequence:

1. Mobile Manipulator MoveIt + Hardware (Starts immediately)
2. Dual RealSense Cameras + YOLO (Starts after 5 seconds)
3. Web Interface (Starts after 8 seconds)
4. Pick & Place Controller (Starts after 12 seconds)

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🛠️ System Configuration

The robot's hardware components are connected as follows:

Component	Communication	Port / Channel
🤖 Mobile Base (4WD)	RS485 Serial	/dev/ttyUSB0, /dev/ttyUSB1
🦾 Manipulator (4DOF)	USBCAN-UC12	Channel 0
🤏 Gripper	Serial	/dev/ttyACM0
👁️ RealSense D405	USB	Gripper Camera
👁️ RealSense D455	USB	Navigation Camera

🏗️ Package Structure

Click to expand the workspace package structure

frbot_ws/src/
│
├── robot_bringup/                    # Main launch package
│   ├── launch/
│   │   ├── full_system_with_pickplace.launch.py  # Main launch file
│   │   ├── mobile_manipulator_moveit.launch.py   # MoveIt + Hardware
│   │   └── dual_realsense.launch.py              # Cameras + YOLO
│   └── scripts/
│       └── topic_pick_place.py                   # Pick & Place controller
│
├── robot_description/                # URDF models
│   ├── urdf/
│   │   ├── mobile_manipulator_usbcan_hardware.xacro  # Main URDF
│   │   ├── robot_core.xacro
│   │   ├── ros2_control_mobile_manipulator_usbcan.urdf.xacro
│   │   ├── arm_only/                 # Manipulator-only URDF
│   │   └── mobile_only/              # Mobile base-only URDF
│   └── meshes/                       # 3D mesh files
│
├── moveit/
│   └── mobile_manipulator_moveit_config/  # MoveIt configuration
│       ├── config/                   # SRDF, kinematics, controllers
│       └── launch/
│
├── drivers/
│   ├── myactuator_hardware/          # Manipulator ros2_control driver
│   │   └── src/myactuator_hardware_interface.cpp
│   ├── md_motor_hardware/            # Mobile base ros2_control driver
│   │   └── src/md_4wd_hardware.cpp
│   ├── myactuator_rmd/               # USBCAN driver library
│   └── serial-ros2/                  # Serial communication library
│
├── robot_web_interface/              # Web-based interface
│   ├── launch/web_interface.launch.py
│   └── www/                          # HTML/CSS/JS files
│
├── yolo_realsense/                   # YOLO object detection node
│   └── yolo_realsense/yolo_node.py
│
├── navigation/                       # (Unused) Navigation packages
│   ├── robot_nav2/
│   └── robot_slam/
│
└── simulation/                       # (Unused) Simulation packages
    └── robot_gazebo/

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📦 Build Instructions

To build the workspace, follow these steps:

# Navigate to your workspace directory
cd ~/frbot_ws

# Source the ROS2 environment
source /opt/ros/humble/setup.bash

# Build the packages
colcon build --symlink-install

# Source the new setup file
source install/setup.bash

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▶️ Execution

Full System

Launch the entire robot system with the default parameters:

ros2 launch robot_bringup full_system_with_pickplace.launch.py

Custom Parameters

You can customize the launch with the following arguments:

ros2 launch robot_bringup full_system_with_pickplace.launch.py \
    rviz:=true \
    can_channel:=0 \
    gripper_port:=/dev/ttyACM0 \
    port_front:=/dev/ttyUSB0 \
    port_rear:=/dev/ttyUSB1 \
    enable_pickplace:=true

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🎯 Using Pick & Place

The pick and place functionality is triggered automatically when YOLO detects an object and publishes to the /target_point topic.

For manual testing, you can publish a point directly:

ros2 topic pub /target_point geometry_msgs/PointStamped \
    "{header: {frame_id: 'd405_optical_frame'}, point: {x: 0.3, y: 0.0, z: 0.5}}"

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🔌 Topics

Here are some of the key topics used in the system:

Topic	Type	Description
/target_point	geometry_msgs/PointStamped	Target coordinates for picking
/camera/camera/color/image_rect_raw	sensor_msgs/Image	D405 camera color image
/camera/camera/depth/image_rect_raw	sensor_msgs/Image	D405 camera depth image
/cmd_vel	geometry_msgs/Twist	Velocity command for mobile base