chess_manipulator's Introduction

Chess Manipulator

A simulation of a FRANKA EMIKA Panda robotic arm programmed to play chess. Gazebo simulation and ROS2 were used to implement this project.

Build

Clone the repository to your Ros2 workspace, Inside the workspace build the package

colcon build --packages-select chess_manipulator 
. install/setup.bash

Run

To launch the simulation:

ros2 launch chess_manipulator simulation.launch.py

To run the example game, In another terminal, from inside the workspace run the following:

. install/setup.bash
ros2 run chess_manipulator example_game

Example

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chess_manipulator's Issues

Problem with controller manager

When launching the system, the following error code appears

[spawner-6] [INFO] [1694259328.229106011] [spawner_joint_trajectory_controller]: Waiting for '/controller_manager' node to exist
[spawner-5] [INFO] [1694259328.244630324] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[spawner-6] [INFO] [1694259330.234924845] [spawner_joint_trajectory_controller]: Waiting for '/controller_manager' node to exist
[spawner-5] [INFO] [1694259330.251826005] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[spawner-6] [INFO] [1694259332.241049799] [spawner_joint_trajectory_controller]: Waiting for '/controller_manager' node to exist
[spawner-5] [INFO] [1694259332.258271178] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[spawner-6] [INFO] [1694259334.247369878] [spawner_joint_trajectory_controller]: Waiting for '/controller_manager' node to exist
[spawner-5] [INFO] [1694259334.264291376] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[spawner-6] [ERROR] [1694259336.253705583] [spawner_joint_trajectory_controller]: Controller manager not available
[spawner-5] [ERROR] [1694259336.270536342] [spawner_joint_state_broadcaster]: Controller manager not available

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