ROS2 Development for Laboratory Automation utilizing Robotic Manipulators

• Create package for UR operation
  • Create launch files to operate UR Dashboard
• Create package / nodes to communicate with Unity scene
  • Compare point

• Create package for Realsense operation
  • Processing image
• Create pointcloud set with image overlay of recognizable positions
• Process pointcloud ros bag file (/home/rs_recording_529/rs_recording_529_0.db3)

• Create package for UR description and digital twin mesh / URDF files

• URDF configuration files (table, camera, dual arms)
• launch file for Rviz display

• Unity launch file
• Python files for
  • Fixed frame broadcaster (Camera TF to world)
  • Realsense reading (Checks for green object)
  • Sending GPIO (Zimmer Gripper operation)

• URDF files (xacro, macro) for custom end effector
• Launch file for display