Authors: Huanyu Li, Marita Georganta
This repository contains the structure and materials for the MRAC02 Advanced Technology Seminar, focusing on mobile manipulators. The seminar covers key technologies used in mobile manipulation, specifically designed for robotic systems utilizing the Husky UR10e mobile platform.
The course is divided into the following parts:
- Introduction to ROS 2: A deep dive into Robot Operating System (ROS 2), its architecture, and how it facilitates communication between robotic components.
- Introduction to MoveIt 2: An overview of the MoveIt 2 framework, used for motion planning and control of robotic arms, specifically tailored for the UR10e manipulator.
- Introduction to Nav2: Covering the Navigation 2 stack for autonomous navigation of mobile robots like the Husky.
- Husky UR10e Mobile Manipulator: Practical integration and control of a Husky robot with the UR10e arm for mobile manipulation tasks.
Dockerized environments for these components can be found in the following repositories:
For detailed installation instructions, including Docker setup and workflow, please refer to the installation folder.
In the installation folder, you will find:
- Instructions for setting up Docker
- Steps for working with the Dockerized environments
- Additional setup required for each section of the course
This repository serves as a base for learning, setting up, and executing robotic applications, providing all the necessary resources and documentation for students and developers interested in mobile manipulation systems.