Dualarm_manipulator

Manipulator controlling ROS package with moveit! for V-rep simulation / Local kinova jaco2 machine

Currently tested in Ubuntu 18.04 and ROS melodic

1. Installation

Installation in Ubuntu 18.04 with ROS melodic is recommended (since other version of ROS or ubuntu distro were not tested)

1-1. Preliminary

V-rep

V-rep source can be downloaded from here and should be installed within the /opt folder. Installed location can be varied, but should be matched with the vrep_path argument within the launch file: vrep_jaco_bringup/launch/bringup.launch: vrep_path

1-2. Moveit installation

sudo apt-get install ros-<distro>-moveit-core
sudo apt-get install ros-<distro>-moveit-ros
sudo apt-get install ros-<distro>-rviz-visual-tools
sudo apt-get install ros-<distro>-moveit-visual-tools
sudo apt-get install ros-<distro>-ompl
sudo apt-get install ros-<distro>-moveit-planners-ompl
sudo apt-get install ros-<distro>-trac-ik-kinematics-plugin
sudo apt-get install ros-<distro>-moveit-resources

Note

• If your libqt5x11extras5 version is greater than 5.5.1-3build1, you should downgrade your libqt with command

sudo apt-get install libqt5x11extras5=5.5.1-3build1

in order to install ros--rviz-visual-tools

1-3. Build & Source repo

Build your repo with catkin_make command in the directory where your src folder is located.

cd catkin_ws/src
git clone https://github.com/TMmichi/dualarm_manipulator.git
cd ..
catkin_make

After building your repo, source setup.bash file in your project devel folder to the .bashrc.

echo "source ~YOUR_PROJECT_FOLDER/devl/setup.bash" >> ~/.bashrc
source ~/.bashrc

2. Usage

Manipulation of a real machine and one in the simulation are much alike from each other.

2-1. Manipulator control within the V-rep simulation

2-1-1. Simulation environment bringup with ROS C++ Api

roslaunch vrep_jaco_bringup bringup.launch

bringup.launch file will launch a V-rep env with the scene file jaco_table2.ttt, and initialize the vrep_interface node (C++ api of V-rep). Api script will initialize actionlib server side that can be connected with the moveit! planning instance.

Bringup launch file DOES NOT include manipulator URDF xacro.

Note:

• Prior to connect ROS-api of V-rep with the simulation environment itself, V-rep should be launched with the designated port number. Default port number has been set to 19997 in action_client/src/VrepInterface.cpp line number 38 with clientID_.

• If the api client node is running on a separate machine other than the machine with V-rep simulation, IP address should also be clarified, other than the default localhost (127.0.0.1)

2-1-2. Manipulator control node with moveit! in ROS node

roslaunch jaco_controller jaco_controller.launch

jaco_controller.launch includes most of the parameters required from the moveit! package with control parameters and launches the visualization node with RVIZ.

It also launches the ROS node with C++ script jaco_controller.cpp in folder jaco_controller/src which initializes the actionlib client side which communicates with the v-rep api server side.

By using Moveit! package, user does not have to consider action/state synchronization between the machine in the simulation and the controller node. Providing target gripper pose to the plan() method and calling move() within the move_group instance will publish rostopic with name and type in /USER_DEFINED_NAME/joint_trajectory/goal and control_msgs/FollowJointTrajectoryActionGoal respectively. Published topic from move_gropup instance in actionlib client side will then be transfered to the server side and wait till all of the goal joint states in joint_trajectory/goal to be finished in the simulation.

2-2. Manipulator control of a Real Machine

2-2-1. Jaco bringup

roslaunch kinova_bringup kinova_robot.launch

2-2-2. Manipulator control node with moveit! in ROS node (real machine)

roslaunch jaco_controller_kinova jaco_controller_kinova.launch

As it is mentioned before, there is no significant differnece with the simulation ros control script.

Reference

kinova-ros_source_code from github@kinova-robotics

V-rep_api from github@JoshSong

controller_script from moveit_tutorial