Niryo One ROS Simulation

Licensed under GPLv3 (see LICENSE file)

Works on ROS Kinetic/Melodic.

ROS simulation for the robot Niryo One. You can control the robot using ros_control, Moveit, and see a 3D simulation on both Rviz and Gazebo.

Install from source

Get the code:

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
git clone https://github.com/NiryoRobotics/niryo_one_ros_simulation.git .

Build the packages:

cd ~/catkin_ws
catkin_make

Don't forget to use those commands before you try to launch anything (you can add them in your .bashrc) :

source /opt/ros/melodic/setup.bash # replace 'melodic' by your ROS version
source ~/catkin_ws/devel/setup.bash

Display Niryo One with Rviz

To simply display the robot and get to move each joint separately, run:

roslaunch niryo_one_description display.launch

Moveit demo

The Moveit demo will start Niryo One in Rviz and provide motion planning functionalities (with a 'fake' controller):

roslaunch niryo_one_moveit_config demo.launch

Start the Gazebo simulation

Developed and tested on ROS Melodic/Gazebo 9.

First start Gazebo (empty world) and Niryo One model:

roslaunch niryo_one_gazebo niryo_one_world.launch

Then, start the controllers (ros_control):

roslaunch niryo_one_gazebo niryo_one_control.launch

The ROS interface to control Niryo One is the same for the real robot and the Gazebo simulation.

The controller used for Niryo One is a joint_trajectory_controller (from ros_control). See the joint_trajectory_controller documentation to know how to use it.

If you want to add motion planning with Moveit, also run (after the controllers):

roslaunch niryo_one_moveit_config move_group.launch

You can now use the Python or C++ MoveGroup interface. This interface will call the Moveit motion planning functionality and then send the computed plan to the joint_trajectory_controller.