Regarding Machin Vision and Mobile Manipulation Exercises

[ShauryaJain03]

Hi,
I have solved another exercise on Robotics Academy, namely the obstacle avoidance exercise as a part of performing beta-testing Robotics Academy, I liked that exercise and also learnt about the virtual force field method.
I have a small suggestion, we can implement this same exercise by using a 2D LiDAR to generate a local obstacle map and use DWA or TEB planners for reactive obstacle avoidance, this will aid in learning more real world applications.

Apart from that I have been making myself familiar with the base code of the exercises that are already in ROS2 and the base code of Mobile Manipulation and Machine vision exercises which are to be migrated, along with the UR5 and Neo MMO 500 robot's ROS code.
I have a couple of questions regarding the same,

1. For both these exercises, the maps and scenarios are supposed to be kept the same or some changes can be made to improve the world?
2. Which gazebo version is expected to be used? I currently use Ignition Gazebo (v6.16) with ROS2 Humble

Thank you!

[jmplaza]

Hi @ShauryaJain03 ,

feel free to share here a video of your solution for the Obstacle Avoidance exercise. I'll give you feedback. Exploring the local obstacle map + DWA looks good to me. In the end students could also use Nav2 stack to solve this exercise.

Regarding industrial robot exercises we are just focused on the Pick&Place exercise, integrating in Robotics Academy the first prototype with MoveIt2 and ROS2-Humble (and Gazebo 11). Take a look at the first demo video. Exploring support of industrial robots on Gazebo Harmonic would be useful.

For all the exercises the maps and scenarios are stored in the JdeRobot RoboticsInfrastructure repo. For sure improvements are welcome! Just create there issues and send PullRequests, they will be reviewed by committers, and in positive feedback, merged.

Cheers,

[ShauryaJain03]

Thanks a lot for the feedback @jmplaza! I'll record and share the video of my obstacle avoidance solution shortly. Yes, Nav2 is also a very straightforward and efficient solution to this exercise, something which I've implemented within my project that I made for a competition organised by the Indian Army.
Yes, I'm looking into the support of industrial robots like UR5 like the one given here for ROS2, MoveIt2, Gazebo 11 and thanks also for pointing me to the RoboticsInfrastructure repo. I’ll explore the worlds used and will create issues if I spot anything worth improving or updating, as and when I get time between these hectic exam days.
Looking forward to contributing more.
Cheers