Bimanual Manipulation Setup and Examples

Summary

This example demonstrates three key developments

• Configuring an arbitrary arm for MoveIt and Gazebo
• Launch two robots in an environment as well as move_group modification
• Add and configure two arms for RexROV then demonstrate key movements

MoveIt

MoveIt is an open-source project that provides the tools to develop complex manipulation scenarios. It integrates a number of motion planning libraries. MoveIt runs on top of ROS and builds on ROS functionality.

Dual Oberon7

Starting the Gazebo simulation in an empty world

roslaunch dave_demo_launch dave_two_arm_demo.launch

Generating Poses

Dual Oberon7 on RexROV

Starting the Gazebo simulation in the dave_ocean_waves.world world.

roslaunch dave_demo_launch dave_oberon7_moveit.launch

Once the simulation has started and controllers have been loaded, the MoveIt interface can be started along with RViz. Starting this prematurely will result in the example not working.

roslaunch rexrov_oberon7_moveit rexrov_dual_arm_moveit_planning_execution.launch moveit_controller_manager:=rexrov

How to move the arms

There are s

Simple Rexrov Demo

We can run a simple demo showing a start sequence