Dual arm tutorial for ROS2

[ShahhhVihaan]

This draft PR addresses issue #1 regarding a dual arm example setup. It introduces three packages that perform the following functions:

1. my_dual_robot_cell_description : Creates a custom workcell with two UR3 arms named alice and bob.
2. my_dual_robot_cell_control: Contains launchfiles to start the communication and control of the robots. Uses one control manager handling controllers for both the arms.
3. my_dual_robot_moveit_config: Sets up the moveit configuration with the help of MoveItSetupAssistant and MoveItConfigsBuilder.

This has been tested successfully on two UR3 arms. Here's the ROS graph for the same:

I need to clean up the packages and write tutorial documentation before it is ready to merge.

[eladpar]

First, Thank you for your contribution.
can you please share your setup? ( what ubuntu, ros2 , UR_driver & Description commits etc...)
iv'e been trying to deploy this on humble with a few adaptations with out much luck
(ur.ros2_control take from ur_description instead of ur_driver, change mock to fake, and take car of kinematics paramters_file)

[ShahhhVihaan]

@eladpar I am working on a local Ubuntu 22.04 system, using ROS2 Rolling. I have installed the Universal Robots (UR) driver via source installation following the instructions provided here.

[ShahhhVihaan]

@eladpar, I recommend ensuring you pass all the parameters for ros2_control for both arms in your description. In the Humble version of ur_description, the ur_macro.xacro contains the ros2_control tags, unlike in Rolling. Once you have configured these parameters, you can refer to the my_dual_robot_cell/my_dual_robot_cell_control/config/combined_controllers.yaml file, which defines controllers for both arms. In your driver launch file, try spawning the controllers using only the ros2_control_node (comment out everything else). Once that works, you can continue testing and gradually add all the other nodes and functions.

[ShahhhVihaan]

@fmauch Once this PR has been merged do you think we can make a branch for humble? I'd be willing to make the tutorials.

[eladpar]

Tried today operating the 2 robots with ros2 rolling ubuntu 24.
seems like there might be an issue maybe because it e-series..

1. I ran

ros2 launch my_dual_robot_cell_control  start_robots.launch.py  alice_ur_type:=ur16e bob_ur_type:=ur16e alice_robot_ip:=192.168.1.102 bob_robot_ip:=192.168.1.103 

but seems like when I try to run the program on the UR pendent It gets stuck at starting program, and this is the messege I get on pc:

2. I ran with headless mode and one of the robot starts to move suddenly ( and the moveit isn't really executing trajectories..)

ros2 launch my_dual_robot_cell_control  start_robots.launch.py  alice_ur_type:=ur16e bob_ur_type:=ur16e alice_robot_ip:=192.168.1.102 bob_robot_ip:=192.168.1.103 headless_mode:=true

[ShahhhVihaan]

@eladpar Do the external control custom ports match the script sender ports in here?

On a side note for my curiosity: did the controllers launch correctly? You can look at my rqt_graph above to compare.

[ShahhhVihaan]

@fmauch Can you suggest how I can write the docs (reST documentation). Do you have a Sphinx workflow for the same?

[fmauch]

Sorry for not coming back on this earlier. I appreciate your efforts very much @ShahhhVihaan. I'll review this bit by bit in order to make it easier to find time slots for reviewing.

So far, I have been looking a the description which looks very good, overall. Please see my comments on suggestions for improvements.

[fmauch]

@fmauch Can you suggest how I can write the docs (reST documentation). Do you have a Sphinx workflow for the same?

Basically, I think you can do things similar to the my_robot_cell package. I'll try to fix building the doc in this package, also for CI so you can use that.

---

Edit: See #7

[fmauch]

Second round of reviewing, this time the control package.