Robot-Speed-Control-ROS2

ROS2 Humble + Gazebo + MoveIt2 based UR3e & Robotiq Pick-and-Place simulation project.
This project uses a RealSense D435 depth camera and YOLO segmentation to dynamically adjust robot speed based on the distance between a human and the robot.

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Environment

• Ubuntu 22.04
• ROS2 Humble
• Gazebo Classic
• MoveIt2
• Python 3

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1. Install ROS2 Humble Dependencies

sudo apt install -y \
python3-colcon-common-extensions \
python3-rosdep \
python3-vcstool \
python3-argcomplete \
python3-pip

sudo rosdep init
rosdep update

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2. Create Workspace

mkdir -p ~/colcon_ws/src
cd ~/colcon_ws

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3. Install Gazebo / MoveIt2 Packages

sudo apt install -y \
ros-humble-gazebo-ros-pkgs \
ros-humble-gazebo-ros2-control \
ros-humble-moveit \
ros-humble-ros2-control \
ros-humble-ros2-controllers \
ros-humble-joint-state-publisher-gui \
ros-humble-xacro \
ros-humble-rviz2 \
ros-humble-tf-transformations

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4. Clone Repository

cd ~/colcon_ws/src
git clone https://github.com/IRaC-Lab/Robot-Speed-Control-ros2.git

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5. Install Additional Repositories

serial (ROS2 branch)

cd ~/colcon_ws/src
git clone -b ros2 https://github.com/tylerjw/serial.git serial

pymoveit2

cd ~/colcon_ws/src
git clone https://github.com/AndrejOrsula/pymoveit2.git

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6. Install Dependencies with rosdep

cd ~/colcon_ws
rosdep install --from-paths src --ignore-src -r -y

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7. Configure Gazebo Model Path

export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:~/colcon_ws/src/Robot-Speed-Control-ros2/ur_gripper_gazebo/models

Disable Gazebo online model database:

echo 'export GAZEBO_MODEL_DATABASE_URI=""' >> ~/.bashrc
source ~/.bashrc

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8. Install YOLO / Torch Dependencies

pip3 install torch==1.13.1 torchvision==0.14.1 ultralytics==8.4.50 numpy==1.26.4

pip3 install pandas

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9. Build Workspace

cd ~/colcon_ws
source /opt/ros/humble/setup.bash
colcon build --symlink-install

Add workspace setup to bashrc:

echo "source ~/colcon_ws/install/setup.bash" >> ~/.bashrc
source ~/.bashrc

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10. Launch Simulation

Gazebo + Robot + Camera

ros2 launch ur_gripper_gazebo sim.launch.py

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Move Group

Open a new terminal:

source ~/colcon_ws/install/setup.bash
ros2 launch ur_robotiq_moveit_config move_group.launch.py use_sim_time:=true

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11. Run Pick-and-Place Demo

python3 ~/colcon_ws/src/Robot-Speed-Control-ros2/ur_robotiq_moveit_config/scripts/pick_place.py

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12. Run YOLO Segmentation

cd ~/colcon_ws/src/Robot-Speed-Control-ros2/yolov5/segment
python3 predict.py --conf 0.7 --imgsz 256

• conf : detection confidence threshold
• imgsz : inference image size

Both values can be adjusted.

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13. Run Depth Alignment & Distance Nodes

cd ~/colcon_ws/src/Robot-Speed-Control-ros2/realsense-ros/realsense2_camera/scripts

python3 align_depth_to_color_ros2.py

python3 depth_distance_seg_ros2.py

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Features

• UR3e + Robotiq Gripper Pick-and-Place
• Gazebo Simulation
• RealSense D435 Depth Camera
• YOLO Segmentation
• Human-Robot Distance Monitoring