In this video, we show an integration demo between micro-ROS, a robotic solution for embedded systems, and MoveIt 2, a manipulation framework for robotics applications created and maintained by PickNik. The demo is partly virtual and partly performed in real space. The final result is displayed with the ROS visualization tool Rviz.
With this demo we bring micro-ROS to a whole different level: thanks to MoveIt’s kinematic planification talent, an app running on a microcontroller is now enabled to be integrated into complex algorithms and ROS 2 workflows. This allows all robots in micro-ROS’ ecosystem to perform actual ‘stunts’ of all types.
To run micro-ROS, we employ a STM32L4 Development IoT kit board in combination with the Zephyr RTOS. The board offers several general-purpose I/O pins and peripherals to communicate its 32-bits microcontroller with the external world. It also includes a lot of sensors. For this demo, we make use of a 6-DoF Inertial Measurement Unit (LSM6DSL), composed of an accelerometer and a gyroscope, and a 3-DoF magnetometer (LIS3MDL). The fusion of the measurements fetched by these sensors outputs the pose, or relative orientation of the board with respect to a fixed reference frame.
The pose data is then forwarded to the ROS world, where it is consumed by Rviz, a 3D visualization tool designed to function with ROS, and MoveIt 2. Rviz consumes this data directly to represent the position and orientation of the board in its graphical interface. MoveIt 2 uses the pose to calculate the movement that the virtual arm has to perform to reach out to the board, according to its kinematic algorithms. The resulting movement is then integrated into Rviz and represented by means of the virtual panda robotic arm, the standard integration robot used by MoveIt in tutorials and graphic interfaces. The arm can be seen to calculate the movement when the user button is pressed, in the form of a ghost-like image, and then performing the movement to reach out to the arrow representing the board.
Find the dedicated repo with instructions on how to reproduce the demo, here: github.com/micro-ROS/micro-RO...
micro-ROS is an open-source robotics software for low-resource devices. It is the result of a joint effort between several companies, associated under OFERA, a project funded by the EU. The video explains thoroughly the micro-ROS functioning and architecture.
More information:
micro-ros.github.io/
moveit.ros.org/
picknik.ai/
wiki.ros.org/rviz
www.st.com/en/evaluation-tool...
zephyrproject.org/
en.wikipedia.org/wiki/Quatern...
github.com/ros-planning/panda...
www.ofera.eu/
#microROS #ROS #PickNikRobotics #MoveIt #goROS #ROS2 #ZephyrIoT #Rviz