Robotic Arm Simulation in ROS2 and Gazebo
This repository includes: First, how to simulate a 6DoF Robotic Arm from scratch using GAZEBO and ROS2. Second, it provides a custom Reinforcement Learning Environment where you can test the Robotic Arm with your RL algorithms. Finally, we test the simulation and environment with a reacher target task, using RL and the 6DoF Robotic Arm with a visual target point.
How to run this Repository
In the following links you can find a step-by-step instruction section to run this repository and simulate the robotic arm:
Simulation in Gazebo and ROS2 –> Tutorial-link
- Configurate and spawn the robotic arm in Gazebo.
- Move the robot with a simple position controller.
Custom RL Environment –> Tutorial-link
- A complete Reinforcement Learning environment simulation.
Reacher task with RL –> Cooming soon
- Robot reacher task.
If you use either the code, data or the step from the tutorial-blog in your paper or project, please kindly star this repo and cite our webpage
I want to thank Doosan Robotics for their repositories, and packages where they took part of this code.
Also, thanks to the authors of these repositories and their tutorials where I took some ideas
Please feel free to contact me or open an issue if you have questions or need additional explanations.