Networked robotic system description

Robot system model description extended with network architecture

This repository hosts the robot description files for the following components:

Universal Robots UR3e
Intel RealSense D455
OnRobot RG2-FT
Intel NUC
MikroTik hAP AC2
TP-Link TL-SG1005P PoE switch
SimCom sim8202g 5G modem
Raspberry Pi 4B

The listed model files have been extended with network topology information.

Required packages

Intel RealSense SDK >= 2.54
sudo apt-get install ros-humble-librealsense2 ros-humble-diagnostic-updater ros-humble-xacro ros-humble-joint-state-publisher-gui ros-humble-joint-state-broadcaster

Usage/Installation

Since these packages are wrapped to work in ROS2 environment, a ROS2 workspace needs to be created preferably in the following way:
mkdir -p ~/component_descr_ws && cd ~/component_descr_ws
Clone the repository with all the submodules into an src folder:
git clone --recurse-submodules https://github.com/EricssonResearch/urdf-yang.git src
Build the packages in the workspace:
colcon build

Testing

Enter workspace:
cd ~/component_descr_ws
Build containing packages:
colcon build
Source workspace:
source ./install/setup.bash

Visualizing system

ros2 launch system_description system_launcher.launch

Desired output:

Extracting URDF

ros2 param get /robot_state_publisher robot_description > robot_system_model.urdf

Related Publication

- M. Balogh, B. Kovács, A. Vidács, and G. Szabó, “Towards a connected robotic ecosystem,” in 2023 IEEE Conference on Standards for Communications and Networking (CSCN), 2023

Demonstration