Integration of MYRAbot in moveIt! (gazebo+moveIt!) - Revision history

Fernando at 11:11, 29 September 2014

2014-09-29T11:11:17Z

Fernando at 11:36, 5 September 2014

2014-09-05T11:36:59Z

Fernando at 13:51, 3 September 2014

2014-09-03T13:51:48Z

Fernando at 07:45, 23 July 2014

2014-07-23T07:45:24Z

Fernando at 09:37, 8 July 2014

2014-07-08T09:37:45Z

Victorm at 09:31, 25 June 2014

2014-06-25T09:31:24Z

Fernando: /* Simple planning with real robot */

2014-06-10T21:54:54Z

‎Simple planning with real robot

Fernando: /* Planning with robot in gazebo */

2014-06-10T21:54:22Z

‎Planning with robot in gazebo

Fernando: /* Planning with modelled scene */

2014-06-10T21:53:43Z

‎Planning with modelled scene

Fernando: /* Simple planning */

2014-06-10T21:53:14Z

‎Simple planning

@@ Line 20: / Line 20: @@
 | valign="top" |
-[[CeRVaNTeS' arm control (maxon+epos2)]]<br/>
+[[CeRVaNTeS' arm and base control (maxon+epos2)]]<br/>
 [[CeRVaNTeS' arm model for simulation (urdf+gazebo)]]<br/>
 [[CeRVaNTeS model for simulation (urdf+gazebo)]]<br/>
@@ Line 1,568: / Line 1,568: @@
 | valign="top" |
-[[CeRVaNTeS' arm control (maxon+epos2)]]<br/>
+[[CeRVaNTeS' arm and base control (maxon+epos2)]]<br/>
 [[CeRVaNTeS' arm model for simulation (urdf+gazebo)]]<br/>
 [[Integration of CeRVaNTeS in moveIt! (gazebo+moveIt!)]]<br/>

@@ Line 16: / Line 16: @@
 [[MYRAbot model for simulation (urdf+gazebo)]]<br/>
 [[Voice control (sphinx+festival)]]<br/>
-[[Teleoperation with xbox360 wireless controller (xbox360 controller+joy)]]
+[[MYRAbot's Teleoperation with xbox360 wireless controller (xbox360 controller+joy)]]
 | valign="top" |
@@ Line 23: / Line 23: @@
 [[CeRVaNTeS' arm model for simulation (urdf+gazebo)]]<br/>
 [[CeRVaNTeS model for simulation (urdf+gazebo)]]<br/>
-[[Integration of CeRVaNTeS in moveIt! (gazebo+moveIt!)]]
+[[Integration of CeRVaNTeS in moveIt! (gazebo+moveIt!)]]<br/>
 |}
@@ Line 1,563: / Line 1,564: @@
 [[MYRAbot model for simulation (urdf+gazebo)]]<br/>
 [[Voice control (sphinx+festival)]]<br/>
-[[Teleoperation with xbox360 wireless controller (xbox360 controller+joy)]]
+[[MYRAbot's Teleoperation with xbox360 wireless controller (xbox360 controller+joy)]]
 | valign="top" |
@@ Line 1,569: / Line 1,570: @@
 [[CeRVaNTeS' arm control (maxon+epos2)]]<br/>
 [[CeRVaNTeS' arm model for simulation (urdf+gazebo)]]<br/>
-[[CeRVaNTeS model for simulation (urdf+gazebo)]]<br/>
+[[Integration of CeRVaNTeS in moveIt! (gazebo+moveIt!)]]<br/>
-[[Integration of CeRVaNTeS in moveIt! (gazebo+moveIt!)]]
+[[CeRVaNTeS' Teleoperation with xbox360 wireless controller (xbox360 controller+joy)]]
 |}

@@ Line 20: / Line 20: @@
 | valign="top" |
 [[CeRVaNTeS' arm model for simulation (urdf+gazebo)]]<br/>
 [[CeRVaNTeS model for simulation (urdf+gazebo)]]<br/>
@@ Line 1,566: / Line 1,567: @@
 | valign="top" |
 [[CeRVaNTeS' arm model for simulation (urdf+gazebo)]]<br/>
 [[CeRVaNTeS model for simulation (urdf+gazebo)]]<br/>

@@ Line 21: / Line 21: @@
 [[CeRVaNTeS' arm model for simulation (urdf+gazebo)]]<br/>
-[[CeRVaNTeS model for simulation (urdf+gazebo)]]
+[[CeRVaNTeS model for simulation (urdf+gazebo)]]<br/>
 |}
@@ Line 1,566: / Line 1,567: @@
 [[CeRVaNTeS' arm model for simulation (urdf+gazebo)]]<br/>
-[[CeRVaNTeS model for simulation (urdf+gazebo)]]
+[[CeRVaNTeS model for simulation (urdf+gazebo)]]<br/>
 |}

@@ Line 20: / Line 20: @@
 | valign="top" |
-[[CeRVaNTeS's arm model for simulation (urdf+gazebo)]]<br/>
+[[CeRVaNTeS' arm model for simulation (urdf+gazebo)]]<br/>
 [[CeRVaNTeS model for simulation (urdf+gazebo)]]
@@ Line 1,565: / Line 1,565: @@
 | valign="top" |
-[[CeRVaNTeS's arm model for simulation (urdf+gazebo)]]<br/>
+[[CeRVaNTeS' arm model for simulation (urdf+gazebo)]]<br/>
 [[CeRVaNTeS model for simulation (urdf+gazebo)]]

@@ Line 27: / Line 27: @@
-==Previous steps==
+=Previous steps=
-===Installation of moveIt!===
+==Installation of moveIt!==
 [http://moveit.ros.org/ MoveIt!] is a ''package'' that provides a software tool for all types of manipulation tasks both industrial level and domestic level. It is available for the [http://wiki.ros.org ROS] distributions [http://wiki.ros.org/groovy groovy] and [http://wiki.ros.org/hydro hydro], for this reason we must have installed some of these. We will execute the next command in a terminal in order to install [http://moveit.ros.org/ moveIt!], where "ROS_DISTRIBUCION" is our installed distribution:
@@ Line 35: / Line 35: @@
 <syntaxhighlight>sudo apt-get install ros-ROS_DISTRIBUCION-moveit-full</syntaxhighlight>
-===Modification of MYRAbot model for moveIt!===
+==Modification of MYRAbot model for moveIt!==
-====New URDF of the arm====
+===New URDF of the arm===
 We need to modify the type of the [http://wiki.ros.org/simulator_gazebo?distro=electric gazebo] controllers of the [[MYRAbot's arm model for simulation (urdf+gazebo)|arm]]'s joints in order to allow to [http://moveit.ros.org/ moveIt!] to take the control of these. Also we have added the 3D meshes of the real components of the arm. We will create a file named "brazo-macros_moveit.xacro" within the folder "urdf" of the ''package'' "brazo_fer_modelo" with the content that is shown below:
@@ Line 573: / Line 573: @@
 </syntaxhighlight>
-====Controllers for arm simulation====
+===Controllers for arm simulation===
 We will create a file named "controller_moveit.yaml" within the folder "config" of the ''package'' "brazo_fer_modelo" with the content that is shown below:
@@ Line 606: / Line 606: @@
 </syntaxhighlight>
-====Controller for the real arm (actionlib-action server)====
+===Controller for the real arm (actionlib-action server)===
 We need a actionlib-ActionServer that receives the calculated trajectories through a ''Goal'', subscribes the ''topic'' "pose_arm" (arm states) and publishes the ''topic'' "move_arm" (arm's movement), in order to communicate [http://moveit.ros.org/ moveIt!] with the [[MYRAbot's arm control (bioloid+arduino)|arm]]. We will create a file named "controlador_brazo.cpp" within the folder "src" of the ''package'' "brazo_fer" with the content tha is shown below:
@@ Line 819: / Line 819: @@
 make</syntaxhighlight>
-====New URDF for xtion camera and frame====
+===New URDF for xtion camera and frame===
 We have added a frame to MYRAbot in order to place the new [http://www.asus.com/Multimedia/Xtion_PRO_LIVE/ asus Xtion PRO LIVE] camera which replaces the previous [[Objects recognition and position calculation (webcam)|webcam]]. We will add the next code lines to the file "estructura-myrabot.xacro" placed within the folder "urdf" of the ''package'' "myrabot_fer_modelo" in order to add the camera frame:
@@ Line 1,019: / Line 1,019: @@
 * [http://www.fernando.casadogarcia.es/images/asus_xtion_pro_live.png asus_xtion_pro_live.png]
-====New URDF of MYRAbot====
+===New URDF of MYRAbot===
 As well we have to create a file named "myrabot_moveit.urdf.xacro" within the folder "urdf" of the ''package'' "myrabot_fer_modelo" with the content that is show below in order to add to the [[MYRAbot model for simulation (urdf+gazebo)|MYRAbot model]] the new [[MYRAbot's arm model for simulation (urdf+gazebo)|arm model]]:
@@ Line 1,159: / Line 1,159: @@
 </syntaxhighlight>
-==Configuration of MYRAbot in moveIt!==
+=Configuration of MYRAbot in moveIt!=
-===Setup assistant===
+==Setup assistant==
 We will execute the next command in a terminal in order to start the setup assistant of [http://moveit.ros.org/ moveIt!]:
@@ Line 1,257: / Line 1,257: @@
 [[file:myrabot_moveit_asistente_18.png|thumb|400px|center|[http://moveit.ros.org/ MoveIt!] setup assistant final window]]
-===Integration of arm's controllers===
+==Integration of arm's controllers==
 We will create a file named "controllers.yaml" within the folder "config" of the generated [http://moveit.ros.org/ moveIt!] ''package'' with the content that is show below:
@@ Line 1,293: / Line 1,293: @@
 </syntaxhighlight>
-===Integration of perception sensors===
+==Integration of perception sensors==
 We can use the [http://www.asus.com/Multimedia/Xtion_PRO_LIVE/ asus xtion pro live] or the [http://www.microsoft.com/en-us/kinectforwindows/ kinect] in MYRAbot, we configure both in the same way. We will create a file named "xtion.yaml" within the folder "config" of the generated [http://moveit.ros.org/ moveIt!] ''package'' with the content that is shown below:
@@ Line 1,347: / Line 1,347: @@
 </syntaxhighlight>
-===Modification of the .srdf file generated===
+==Modification of the .srdf file generated==
 We have to edit the generated file "MYRAbot.srdf" placed in the folder "config" of the generated [http://moveit.ros.org/ moveIt!] ''package'' in order to replace the commas by dots in the values of the joints in the stored group poses, like is shown below:
@@ Line 1,371: / Line 1,371: @@
 </syntaxhighlight>
-==Execution==
+=Execution=
-===Simple planning===
+==Simple planning==
 We will execute the next command in a terminal in order to test that the MYRAbot works properly in [http://moveit.ros.org/ moveIt!]:
@@ Line 1,391: / Line 1,391: @@
 <center>[http://www.youtube.com/watch?v=doy6VRjzYZc Watch in YouTube]</center>
-===Planning with modelled scene===
+==Planning with modelled scene==
 We will execute the next command in a terminal in order to start [http://wiki.ros.org/rviz rviz] with the robot model and the "MotionPlanning" of [http://moveit.ros.org/ moveIt!]:
@@ Line 1,454: / Line 1,454: @@
 <center>[http://www.youtube.com/watch?v=oWe_jj4keXU Watch in YouTube]</center>
-===Planning with robot in gazebo===
+==Planning with robot in gazebo==
 We will create a file named "myrabot_gazebo_moveit_mesa+latas.launch" within the folder "launch" of the ''package'' "myrabot_fer_modelo" with the content that is shown below in order to load [[MYRAbot model for simulation (urdf+gazebo)#Creation of the objects' models|the objects' models]] (table and cans):
@@ Line 1,506: / Line 1,506: @@
 <center>[http://www.youtube.com/watch?v=xf1Jz1L-Xyc Watch in YouTube]</center>
-===Simple planning with real robot===
+==Simple planning with real robot==
 We need load the robot model and start the arm controller for [http://moveit.ros.org/ moveIt!]. We will create a file named "controlador_moveit.launch" within the folder "launch" of the ''package'' "brazo_fer" with the content that is shown below:

← Older revision		Revision as of 21:54, 10 June 2014
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−	<center>[http://www.youtube.com/watch?v=Kz7bKL4ZP98 ~~Ver vídeo en~~ YouTube]</center>	+	<center>[http://www.youtube.com/watch?v=Kz7bKL4ZP98 Watch in YouTube]</center>

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 <center><videoflash>xf1Jz1L-Xyc</videoflash></center>
-<center>[http://www.youtube.com/watch?v=xf1Jz1L-Xyc Ver vídeo en YouTube]</center>
+<center>[http://www.youtube.com/watch?v=xf1Jz1L-Xyc Watch in YouTube]</center>
 ===Simple planning with real robot===

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 <center><videoflash>oWe_jj4keXU</videoflash></center>
-<center>[http://www.youtube.com/watch?v=oWe_jj4keXU Ver vídeo en YouTube]</center>
+<center>[http://www.youtube.com/watch?v=oWe_jj4keXU Watch in YouTube]</center>
 ===Planning with robot in gazebo===

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 <center><videoflash>doy6VRjzYZc</videoflash></center>
-<center>[http://www.youtube.com/watch?v=doy6VRjzYZc Ver vídeo en YouTube]</center>
+<center>[http://www.youtube.com/watch?v=doy6VRjzYZc Watch in YouTube]</center>
 ===Planning with modelled scene===