Digital Twin

Features

• Robot Visualization: View the virtual twin of the RSC in RViz2.
• Customizable Appearance: Change the robot’s colors and facial expressions.
• Flipper Control: Utilize ROS 2 nodes to move the robot’s flippers.
• Modular Design: Easily extend and integrate with other ROS 2-based projects.

Installation

Prerequisites

Ensure you have the following installed:

• ROS 2 Humble
• RViz2 for visualization

Steps

1. Clone the repository into your ROS 2 workspace:

   cd ~/ros2_ws/src
   git clone https://github.com/yourusername/digital_twin.git

2. Build the package:

   cd ~/ros2_ws
   colcon build --packages-select digital_twin

3. Source the workspace:

   source install/setup.bash

4. Launch the simulation:

   ros2 launch digital_twin display_robot.launch.py

Usage

Running the Simulation

To start the robot simulation in RViz2:

ros2 launch digital_twin display_robot.launch.py

Changing Colors and Faces

Modify the robot’s appearance (the face emotion and the buttun color) by modifying lines 4 and 5 values in src/digital_twin/urdf/my_robot.urdf.xacro.

Controlling Flippers

Run the following node to control the flippers with the different pre-set emotional movements:

ros2 run digital_twin emotion.py

or the single emotions:

ros2 run digital_twin joy.py  --  fun.py  --  caring.py  --  pride.py  --  anger.py  --  surprise.py  --  neutral.py

Run the following node to directly control the flippers:

ros2 run joint_state_publisher_gui joint_state_publisher_gui

DIGITAL TWIN TORSO

There is a second package called digital_twin_torso, it has the same functionalities of digital_twin but it has another movement: the rotation of the torso.

Contact

For questions or support, reach out via calafa@ut.ee or open an issue in the repository.

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Happy coding! 🚀