Difference between revisions of "Integration of MYRAbot in moveIt! (gazebo+moveIt!)"

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[[Mobile manipulation | < go back to main]]
 
[[Mobile manipulation | < go back to main]]
  
−
==Previous steps==
 
  
−
===Installation of moveIt!===
+
----
 +
{| style="border: solid 0px white; width: 100%"
 +
!Related articles
 +
----
 +
!Other articles
 +
----
 +
|-
 +
| valign="top" width="50%" |
 +
 
 +
[[MYRAbot's arm control (bioloid+arduino)]]<br/>
 +
[[Objects recognition and position calculation (webcam)]]<br/>
 +
[[MYRAbot's arm model for simulation (urdf+gazebo)]]<br/>
 +
[[MYRAbot model for simulation (urdf+gazebo)]]<br/>
 +
[[Voice control (sphinx+festival)]]<br/>
 +
[[MYRAbot's Teleoperation with xbox360 wireless controller (xbox360 controller+joy)]]
 +
 
 +
| valign="top" |
 +
 
 +
[[CeRVaNTeS' arm and base 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/>
 +
[[CeRVaNTeS' Teleoperation with xbox360 wireless controller (xbox360 controller+joy)]]
 +
 
 +
|}
 +
----
  
−
[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:
 
  
−
<syntaxhighlight>sudo apt-get install ros-ROS_DISTRIBUCION-moveit-full</syntaxhighlight>
+
=Previous steps=
  
−
===Modification of MYRAbot model for moveIt!===
+
==Installation of moveIt!==
  
−
====New URDF of the arm====
+
[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:
  
 +
<syntaxhighlight>sudo apt-get install ros-ROS_DISTRIBUCION-moveit-full</syntaxhighlight>
  
−
<!--
+
==Modification of MYRAbot model for moveIt!==
  
 +
===New URDF of the arm===
  
−
Necesitamos modificar el tipo de controladores, de las articulaciones del [[Modelo para simulación brazo MYRAbot (urdf+gazebo)|brazo]], empleados en [http://wiki.ros.org/simulator_gazebo?distro=electric gazebo] para permitir que pueda tomar el control de estos [http://moveit.ros.org/ moveIt!]. También se han añadido al [[Modelo para simulación brazo MYRAbot (urdf+gazebo)|modelo del brazo]] las mallas 3D de los componentes reales. Crearemos un archivo llamado "brazo-macros_moveit.xacro" dentro del directorio "urdf" del ''package'' "brazo_fer_modelo" con el siguiente contenido:
+
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:
  
 
<syntaxhighlight lang="xml" enclose="div">
 
<syntaxhighlight lang="xml" enclose="div">
Line 355: Line 380:
 
</syntaxhighlight>
 
</syntaxhighlight>
  
−
Los archivos empleados, con los modelos de malla 3D ".stl", en la descripción del brazo se pueden descargar a continuación, deben guardarse en el directorio "meshes" del ''package'' "brazo_fer_modelo":
+
We will add the next files within the folder "meshes" of the ''package'' "brazo_fer_modelo":
  
 
* [http://www.fernando.casadogarcia.es/files/ax12_box.stl ax12_box.stl]
 
* [http://www.fernando.casadogarcia.es/files/ax12_box.stl ax12_box.stl]
Line 363: Line 388:
 
* [http://www.fernando.casadogarcia.es/files/F10.stl F10.stl]
 
* [http://www.fernando.casadogarcia.es/files/F10.stl F10.stl]
  
−
Crearemos un archivo llamado "brazo_moveit.xacro" dentro del directorio "urdf" del ''package'' "brazo_fer_modelo" con el siguiente contenido:
+
We will create a file named "brazo_moveit.xacro" within the folder "urdf" of the ''package'' "brazo_fer_modelo" with the content that is shown below:
  
 
<syntaxhighlight lang="xml" enclose="div">
 
<syntaxhighlight lang="xml" enclose="div">
Line 384: Line 409:
 
   <link name="fixed_link"/>
 
   <link name="fixed_link"/>
  
−
     shoulder pan joint
+
     <!-- shoulder pan joint -->
 
     <dynamixel_AX12_fixed parent="fixed_link" name="servo_base">
 
     <dynamixel_AX12_fixed parent="fixed_link" name="servo_base">
 
       <origin xyz="0 0 0.019" rpy="${M_PI/2} 0 ${-M_PI/2}"/>
 
       <origin xyz="0 0 0.019" rpy="${M_PI/2} 0 ${-M_PI/2}"/>
Line 392: Line 417:
 
     </bioloid_F3_revolute>
 
     </bioloid_F3_revolute>
  
−
     shoulder lift joint
+
     <!-- shoulder lift joint -->
 
     <dynamixel_AX12_fixed parent="base_brazo_link" name="servo_arti1">
 
     <dynamixel_AX12_fixed parent="base_brazo_link" name="servo_arti1">
 
       <origin xyz="0 0 ${-AX12_HEIGHT-F10_HEIGHT+0.001}" rpy="0 ${M_PI} 0" />
 
       <origin xyz="0 0 ${-AX12_HEIGHT-F10_HEIGHT+0.001}" rpy="0 ${M_PI} 0" />
Line 412: Line 437:
 
     </bioloid_F3_fixed>
 
     </bioloid_F3_fixed>
  
−
     elbow joint
+
     <!-- elbow joint -->
 
     <dynamixel_AX12_fixed parent="arti1_F3_0_link" name="servo_arti2">
 
     <dynamixel_AX12_fixed parent="arti1_F3_0_link" name="servo_arti2">
 
       <origin xyz="0 0 ${-AX12_HEIGHT-F10_HEIGHT+0.001}" rpy="0 ${M_PI} 0"/>
 
       <origin xyz="0 0 ${-AX12_HEIGHT-F10_HEIGHT+0.001}" rpy="0 ${M_PI} 0"/>
Line 432: Line 457:
 
     </bioloid_F3_fixed>
 
     </bioloid_F3_fixed>
  
−
     wrist joint
+
     <!-- wrist joint -->
 
     <dynamixel_AX12_fixed parent="arti2_F3_0_link" name="servo_arti3">
 
     <dynamixel_AX12_fixed parent="arti2_F3_0_link" name="servo_arti3">
 
       <origin xyz="0 0 ${-AX12_HEIGHT-F10_HEIGHT+0.001}" rpy="0 ${M_PI} 0"/>
 
       <origin xyz="0 0 ${-AX12_HEIGHT-F10_HEIGHT+0.001}" rpy="0 ${M_PI} 0"/>
Line 443: Line 468:
 
     </bioloid_F3_fixed>
 
     </bioloid_F3_fixed>
  
−
    gripper joint
+
    <!-- gripper joint -->
 
     <dynamixel_AX12_fixed parent="arti3_F3_0_link" name="servo_pinza">
 
     <dynamixel_AX12_fixed parent="arti3_F3_0_link" name="servo_pinza">
 
       <origin xyz="-0.02275 0 ${-AX12_WIDTH/2}" rpy="${M_PI} ${M_PI/2} 0"/>
 
       <origin xyz="-0.02275 0 ${-AX12_WIDTH/2}" rpy="${M_PI} ${M_PI/2} 0"/>
 
     </dynamixel_AX12_fixed>
 
     </dynamixel_AX12_fixed>
  
−
    finger 1
+
    <!-- finger 1 -->
 
     <joint name="pinza" type="revolute">
 
     <joint name="pinza" type="revolute">
 
       <origin xyz="0 0 0" rpy="0 0 0"/>
 
       <origin xyz="0 0 0" rpy="0 0 0"/>
Line 481: Line 506:
 
     </finger_fixed>
 
     </finger_fixed>
  
−
    finger
+
    <!-- finger 2 -->
 
     <bioloid_F3_fixed parent="servo_pinza_link" name="pinza_fija" color="white">
 
     <bioloid_F3_fixed parent="servo_pinza_link" name="pinza_fija" color="white">
 
       <origin xyz="0 0 ${-AX12_HEIGHT-F10_HEIGHT+0.001}" rpy="0 ${M_PI} 0" />
 
       <origin xyz="0 0 ${-AX12_HEIGHT-F10_HEIGHT+0.001}" rpy="0 ${M_PI} 0" />
Line 551: Line 576:
 
</syntaxhighlight>
 
</syntaxhighlight>
  
−
====Controladores para simulación brazo====
+
===Controllers for arm simulation===
  
−
Crearemos un archivo llamado "controller_moveit.yaml" dentro del directorio "config" del ''package'' "brazo_fer_modelo" con el siguiente contenido:
+
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:
  
 
<syntaxhighlight>
 
<syntaxhighlight>
Line 584: Line 609:
 
</syntaxhighlight>
 
</syntaxhighlight>
  
−
====Nuevo URDF soporte y cámara xtion====
+
===Controller for the real arm (actionlib-action server)===
  
−
Se ha colocado una estructra de soporte para situar la nueva cámara [http://www.asus.com/Multimedia/Xtion_PRO_LIVE/ asus Xtion PRO LIVE] para poder realizar tareas de manipulación y reconocimiento de objetos, en sustitución de la anterior [[Detección y cálculo de posición de objetos (cámara web)|cámara web]]. Para la estructura de soporte añadiremos las siguientes líneas de código al archivo "estructura-myrabot.xacro" situado en el directotio "urdf" del ''package'' "myrabot_fer_modelo":
+
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:
 +
 
 +
<syntaxhighlight lang="cpp" enclose="div">
 +
 
 +
#include <ros/ros.h>
 +
#include <ros/time.h>
 +
#include <trajectory_msgs/JointTrajectoryPoint.h>
 +
#include <trajectory_msgs/JointTrajectory.h>
 +
#include <myrabot_arm_base_b/WriteServos.h>
 +
#include <myrabot_arm_base_b/ReadServos.h>
 +
#include <actionlib/server/simple_action_server.h>
 +
#include <control_msgs/FollowJointTrajectoryAction.h>
 +
 
 +
#define PI 3.14159265
 +
 
 +
class MYRAbotArm
 +
{
 +
public:
 +
 
 +
  MYRAbotArm(std::string name) :
 +
    as_(nh_, name, false),
 +
    action_name_(name)
 +
  {
 +
    as_.registerGoalCallback(boost::bind(&MYRAbotArm::goalCB, this));
 +
    as_.registerPreemptCallback(boost::bind(&MYRAbotArm::preemptCB, this));
 +
 
 +
    sub_pose_arm_ = nh_.subscribe("/pose_arm", 1, &MYRAbotArm::analysisCB, this);
 +
 
 +
    pub_move_arm_ = nh_.advertise<myrabot_arm_base_b::WriteServos>("/move_arm", 1, this);
 +
 
 +
    as_.start();
 +
  }
 +
 
 +
  ~MYRAbotArm(void)
 +
  {
 +
  }
 +
 
 +
  void goalCB()
 +
  {
 +
i_ = 0;
 +
 
 +
goal_ = as_.acceptNewGoal()->trajectory;
 +
  }
 +
 
 +
  void preemptCB()
 +
  {
 +
    ROS_INFO("%s: Preempted", action_name_.c_str());
 +
    as_.setPreempted();
 +
  }
 +
 
 +
  void analysisCB(const myrabot_arm_base_b::ReadServos& arm)
 +
  {
 +
    if (!as_.isActive())
 +
      return;
 +
 
 +
    ros::Time ahora = ros::Time::now();
 +
 
 +
    feedback_.header.stamp = ahora;
 +
 
 +
    feedback_.joint_names.resize(4);
 +
    feedback_.actual.positions.resize(4);
 +
    feedback_.actual.effort.resize(4);
 +
 
 +
for (int i = 0; i < 4; i++)
 +
{
 +
switch(i)
 +
{
 +
case 3:
 +
feedback_.joint_names[i] = "base_brazo";
 +
feedback_.actual.positions[i] = ((((arm.posicion.base * 300)/1023)*PI)/180)-2.62;
 +
feedback_.actual.effort[i] = ((((arm.corriente.base * 300)/1023)*PI)/180)-2.62;
 +
break;
 +
case 0:
 +
feedback_.joint_names[i] = "arti1";
 +
feedback_.actual.positions[i] = ((((arm.posicion.arti1 * 300)/1023)*PI)/180)-2.62;
 +
feedback_.actual.effort[i] = ((((arm.corriente.arti1 * 300)/1023)*PI)/180)-2.62;
 +
break;
 +
case 1:
 +
feedback_.joint_names[i] = "arti2";
 +
feedback_.actual.positions[i] = ((((arm.posicion.arti2 * 300)/1023)*PI)/180)-2.62;
 +
feedback_.actual.effort[i] = ((((arm.corriente.arti2 * 300)/1023)*PI)/180)-2.62;
 +
break;
 +
case 2:
 +
feedback_.joint_names[i] = "arti3";
 +
feedback_.actual.positions[i] = ((((arm.posicion.arti3 * 300)/1023)*PI)/180)-2.62;
 +
feedback_.actual.effort[i] = ((((arm.corriente.arti3 * 300)/1023)*PI)/180)-2.62;
 +
break;
 +
}
 +
}
 +
 
 +
puntos_ = goal_.points.size();
 +
 
 +
if (i_ != puntos_)
 +
{
 +
 
 +
    myrabot_arm_base_b::WriteServos move;
 +
 
 +
    if (i_ == 0
 +
        ||((feedback_.actual.positions[0] <= (goal_.points[i_-1].positions[0] + 0.1) && feedback_.actual.positions[0] >= (goal_.points[i_-1].positions[0] - 0.1))
 +
        && (feedback_.actual.positions[1] <= (goal_.points[i_-1].positions[1] + 0.1) && feedback_.actual.positions[1] >= (goal_.points[i_-1].positions[1] - 0.1))
 +
        && (feedback_.actual.positions[2] <= (goal_.points[i_-1].positions[2] + 0.1) && feedback_.actual.positions[2] >= (goal_.points[i_-1].positions[2] - 0.1))
 +
        && (feedback_.actual.positions[3] <= (goal_.points[i_-1].positions[3] + 0.1) && feedback_.actual.positions[3] >= (goal_.points[i_-1].positions[3] - 0.1))))
 +
    {
 +
    for (int j = 0; j < 4; j++)
 +
    {
 +
    switch (j)
 +
    {
 +
    case 3:
 +
    move.posicion.base = ((((goal_.points[i_].positions[j]+2.62)*180)/PI)*1023)/300;
 +
    move.velocidad.base = abs(goal_.points[i_].velocities[j]*511);
 +
    move.par.base = 1;
 +
    break;
 +
    case 0:
 +
    move.posicion.arti1 = ((((goal_.points[i_].positions[j]+2.62)*180)/PI)*1023)/300;
 +
    move.velocidad.arti1 = abs(goal_.points[i_].velocities[j]*511);
 +
    move.par.arti1 = 1;
 +
    break;
 +
    case 1:
 +
    move.posicion.arti2 = ((((goal_.points[i_].positions[j]+2.62)*180)/PI)*1023)/300;
 +
    move.velocidad.arti2 = abs(goal_.points[i_].velocities[j]*511);
 +
    move.par.arti2 = 1;
 +
    break;
 +
    case 2:
 +
    move.posicion.arti3 = ((((goal_.points[i_].positions[j]+2.62)*180)/PI)*1023)/300;
 +
            move.velocidad.arti3 = abs(goal_.points[i_].velocities[j]*511);
 +
    move.par.arti3 = 1;
 +
    break;
 +
    }
 +
    }
 +
 
 +
    pub_move_arm_.publish(move);
 +
 
 +
    t_inicio = ros::Time::now();
 +
    }
 +
    else
 +
    {
 +
    i_ = i_ - 1;
 +
    }
 +
 
 +
    ros::Time ahora = ros::Time::now();
 +
 
 +
    ros::Duration duracion(1.0);
 +
 
 +
    if (ahora > (t_inicio + duracion))
 +
    {
 +
    result_.error_code = -1;
 +
                    as_.setAborted(result_);
 +
    }
 +
 
 +
feedback_.desired = goal_.points[i_];
 +
 
 +
feedback_.error.positions.resize(4);
 +
 
 +
for (int j = 0; j < 4; j++)
 +
{
 +
feedback_.error.positions[j] = feedback_.desired.positions[j] - feedback_.actual.positions[j];
 +
}
 +
 
 +
    i_ ++;
 +
  }
 +
else
 +
{
 +
result_.error_code = 0;
 +
        as_.setSucceeded(result_);
 +
}
 +
as_.publishFeedback(feedback_);
 +
 
 +
  }
 +
 
 +
protected:
 +
 
 +
  ros::NodeHandle nh_;
 +
  actionlib::SimpleActionServer<control_msgs::FollowJointTrajectoryAction> as_;
 +
  std::string action_name_;
 +
  int puntos_, i_;
 +
  ros::Time t_inicio;
 +
  trajectory_msgs::JointTrajectory goal_;
 +
  control_msgs::FollowJointTrajectoryResult result_;
 +
  control_msgs::FollowJointTrajectoryFeedback feedback_;
 +
  ros::Subscriber sub_pose_arm_;
 +
  ros::Publisher pub_move_arm_;
 +
};
 +
 
 +
int main(int argc, char** argv)
 +
{
 +
  ros::init(argc, argv, "brazo_controller/follow_join_trajectory");
 +
 
 +
  MYRAbotArm brazo(ros::this_node::getName());
 +
  ros::spin();
 +
 
 +
  return 0;
 +
}
 +
 
 +
</syntaxhighlight>
 +
 
 +
We have to add the next code line in the file "CMakeLists.txt" of the ''package'' in order to compile and generate the executable:
 +
 
 +
<syntaxhighlight lang=cmake>rosbuild_add_executable(controlador_brazo src/controlador_brazo.cpp)</syntaxhighlight>
 +
 
 +
Also, we need to add the next dependences for the ''package'' in the file "manifest.xml":
 +
 
 +
<syntaxhighlight>actionlib
 +
actionlib_msgs
 +
trajectory_msgs
 +
control_msgs</syntaxhighlight>
 +
 
 +
We will execute the next commands in a terminal in order to compile and generate the executable:
 +
 
 +
<syntaxhighlight>roscd brazo_fer
 +
make</syntaxhighlight>
 +
 
 +
===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:
  
 
<syntaxhighlight lang="xml" enclose="div">
 
<syntaxhighlight lang="xml" enclose="div">
Line 627: Line 865:
 
</syntaxhighlight>
 
</syntaxhighlight>
  
−
Crearemos un archivo llamado "xtion.xacro" dentro del directorio "urdf" del ''package'' "myrabot_fer_modelo" con el siguiente contenido para el modelo del sensor 3D:
+
We will create a file named "xtion.xacro" within the folder "urdf" of the ''package'' "myrabot_fer_modelo" with the content that is shown below in order to create the model of the 3D sensor:
  
 
<syntaxhighlight lang="xml" enclose="div">
 
<syntaxhighlight lang="xml" enclose="div">
Line 634: Line 872:
 
<robot xmlns:xacro="http://ros.org/wiki/xacro">
 
<robot xmlns:xacro="http://ros.org/wiki/xacro">
 
    
 
    
−
  Xacro properties  
+
  <!-- Xacro properties -->
 
   <xacro:property name="M_SCALE" value="0.001"/>
 
   <xacro:property name="M_SCALE" value="0.001"/>
 
   <xacro:property name="asus_xtion_pro_depth_rel_rgb_py" value="0.0270" />
 
   <xacro:property name="asus_xtion_pro_depth_rel_rgb_py" value="0.0270" />
Line 641: Line 879:
 
   <property name="M_PI" value="3.14159"/>
 
   <property name="M_PI" value="3.14159"/>
  
−
  Parameterised in part by the values in turtlebot_properties.urdf.xacro
+
  <!-- Parameterised in part by the values in turtlebot_properties.urdf.xacro -->
 
   <xacro:macro name="xtion" params="parent *origin">
 
   <xacro:macro name="xtion" params="parent *origin">
 
   
 
   
Line 778: Line 1,016:
 
</syntaxhighlight>
 
</syntaxhighlight>
  
−
 
+
We will add the next files within the folder "meshes" of the ''package'' "myrabot_fer_modelo":  
−
Los archivos empleados, con los modelos de malla 3D ".stl" y ".dae", en la descrición de la estructura soporte y de la cámara se pueden descargar a continuación, deben guardarse en el directorio "meshes" de nuestro ''package'':
 
  
 
* [http://www.fernando.casadogarcia.es/files/e_soporte_3.stl e_soporte_3.stl]
 
* [http://www.fernando.casadogarcia.es/files/e_soporte_3.stl e_soporte_3.stl]
Line 785: Line 1,022:
 
* [http://www.fernando.casadogarcia.es/images/asus_xtion_pro_live.png asus_xtion_pro_live.png]
 
* [http://www.fernando.casadogarcia.es/images/asus_xtion_pro_live.png asus_xtion_pro_live.png]
  
−
====Nuevo URDF de MYRAbot====
+
===New URDF of MYRAbot===
  
−
También debemos crear un archivo llamado "myrabot_moveit.urdf.xacro" dentro del directorio "urdf" del ''package'' "myrabot_fer_modelo" con el siguiente contenido, para cargar el [[Modelo para simulación MYRAbot (urdf+gazebo)|modelo del robot]] con el nuevo [[Modelo para simulación brazo MYRAbot (urdf+gazebo)|modelo del brazo]]:
+
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]]:
  
 
<syntaxhighlight lang="xml" enclose="div">
 
<syntaxhighlight lang="xml" enclose="div">
Line 862: Line 1,099:
 
</syntaxhighlight>
 
</syntaxhighlight>
  
−
Crearemos un archivo llamado "myrabot_gazebo_moveit.launcher" dentro del directorio "launch" del ''package'' "myrabot_fer_modelo" con el siguiente contenido, para cargar en [http://wiki.ros.org/simulator_gazebo?distro=electric gazebo] el nuevo modelo del robot adaptado a [http://moveit.ros.org/ moveIt!]:
+
We will create a file named "myrabot_gazebo_moveit.launcher" within the folder "launch" of the ''package'' "myrabot_fer_modelo" with the content that is shown below in order to load in [http://wiki.ros.org/simulator_gazebo?distro=electric gazebo] the new robot model adapted to [http://moveit.ros.org/ moveIt!]:
  
 
<syntaxhighlight lang="xml" enclose="div">
 
<syntaxhighlight lang="xml" enclose="div">
Line 875: Line 1,112:
 
   </include>   
 
   </include>   
  
−
   <param name="robot_description" command="$(find xacro)/xacro.py '$(find brazo_fer_modelo)/urdf/myrabot_moveit.urdf.xacro'" />
+
   <param name="robot_description" command="$(find xacro)/xacro.py '$(find myrabot_fer_modelo)/urdf/myrabot_moveit.urdf.xacro'" />
  
 
   <node name="spawn_myrabot" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model MYRAbot" respawn="false" output="screen" />  
 
   <node name="spawn_myrabot" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model MYRAbot" respawn="false" output="screen" />  
Line 925: Line 1,162:
 
</syntaxhighlight>
 
</syntaxhighlight>
  
−
==Configuración de MYRAbot en moveIt!==
+
=Configuration of MYRAbot in moveIt!=
  
−
===Asistente de configuración===
+
==Setup assistant==
  
−
Una vez instalado [http://moveit.ros.org/ moveIt!] ejecutaremos el siguiente comando en un terminal para iniciar el asistente de configuración de este ''package'':
+
We will execute the next command in a terminal in order to start the setup assistant of [http://moveit.ros.org/ moveIt!]:
  
 
<syntaxhighlight>roslaunch moveit_setup_assistant setup_assistant.launch</syntaxhighlight>
 
<syntaxhighlight>roslaunch moveit_setup_assistant setup_assistant.launch</syntaxhighlight>
  
−
Nos aparecerá la ventana que se muestra a continuación, donde podemos escoger entre crear un nuevo ''package'' de configuración (Create New MoveIt Configuration Package) o editar un ''package'' de configuración existente (Edit existing MoveIt Configuration Package):
+
We can choose between "Create New MoveIt Configuration Package" or "Edit existing MoveIt Configuration Package" in the assistant window that is shown below:
−
 
 
  
 
{| style="border: solid 0px white; width: 100%"
 
{| style="border: solid 0px white; width: 100%"
Line 941: Line 1,177:
 
|
 
|
 
|-
 
|-
−
|[[file:myrabot_moveit_asistente_01.png|thumb|400px|center|Ventana de inicio asistente [http://moveit.ros.org/ moveIt!]]]
+
|[[file:myrabot_moveit_asistente_01.png|thumb|400px|center|[http://moveit.ros.org/ MoveIt!] setup asistant start window]]
−
||<center style="text-align: left">Pinchamos sobre la opción "Create New MoveIt Configuration Package" >
+
||<center style="text-align: left">Click on "Create New MoveIt Configuration Package" >
−
<br><br>Seleccionamos el archivo [http://wiki.ros.org/urdf/Tutorials URDF] del [[Modelo para simulación MYRAbot (urdf+gazebo)|modelo de MYRAbot]] pinchando en "Browse" ></center>
+
<br><br>Select the [http://wiki.ros.org/urdf/Tutorials URDF] file of the [[MYRAbot model for simulation (urdf+gazebo)|MYRAbot model]] clicking on "Browse" ></center>
−
|||[[file:myrabot_moveit_asistente_02.png|thumb|400px|center|Ventana creación nuevo ''package'' asistente [http://moveit.ros.org/ moveIt!]]]
+
|||[[file:myrabot_moveit_asistente_02.png|thumb|400px|center|Creation of New [http://moveit.ros.org/ moveIt!] Configuration Package window]]
 
|}
 
|}
  
−
Cuando tengamos seleccionado el modelo del robot pincharemos en "Load Files" para que el asistente de [http://moveit.ros.org/ moveIt!] cargue nuestro modelo. Al finalizar el proceso de carga aparecerá el modelo del robot en la parte derecha de la ventana, como se puede ver en la siguiente imagen:
+
We will click on "Load Files" in order to load our robot model in the [http://moveit.ros.org/ moveIt!] setup assistant. When the load process ends, we can see in the right side of the window the robot model. This is shown in the next picture:
  
−
[[file:myrabot_moveit_asistente_03.png|thumb|400px|center|Ventana carga modelo robot asistente [http://moveit.ros.org/ moveIt!]]]
+
[[file:myrabot_moveit_asistente_03.png|thumb|400px|center|[http://moveit.ros.org/ MoveIt!] setup assistant load model window]]
  
−
Ahora seleccionaremos en el menú de la parte izquierda de la ventana "Self-Collision" y pincharemos en "Regenerate Default Collision Mtrix" para calcular la matriz de colisiones de nuestro modelo, podemos ver el resultado en la siguiente imagen:
+
Now, we will select "Self-Collision" in the menu of the left side of the window and we will click on "Regenerate Default Collision Mtrix" in order to calculate the collision matrix of our model. The result is shown in the next picture:
  
−
[[file:myrabot_moveit_asistente_04.png|thumb|400px|center|Ventana Self-Collision asistente [http://moveit.ros.org/ moveIt!]]]
+
[[file:myrabot_moveit_asistente_04.png|thumb|400px|center|[http://moveit.ros.org/ MoveIt!] setup assistant Self-Collision window]]
−
 
 
−
En el menú de la izquierda seleccionaremos "Virtual Joints" y pincharemos en "Add Virtual Joint". En el campo "Virtual Joint Name" escribiremos '''virtual_joint''', en el campo "Child_Link" seleccionaremos el ''link'' '''base_footprint''', en el campo "Parent Frame Name" escribiremos '''odom''' y en el campo "Joint Type" seleccionaremos '''planar''', como se muestra en la siguiente imagen:
 
  
 +
We will select "Virtual Joints" in the menu of the left side of the window and we will click on "Add Virtual Joint". We will write '''virtual_joint''' in the field "Virtual Joint Name", we will select the ''link'' '''base_footprint''' in the field "Child_Link", we will write '''odom''' in the field "Parent Frame Name" and we will write '''planar''' in the field. The procedure is shown in the next pictures:
  
 
{| style="border: solid 0px white; width: 100%"
 
{| style="border: solid 0px white; width: 100%"
Line 963: Line 1,198:
 
|
 
|
 
|-
 
|-
−
|[[file:myrabot_moveit_asistente_05.png|thumb|400px|center|Ventana añadir "Virtual Joint" asistente [http://moveit.ros.org/ moveIt!]]]
+
|[[file:myrabot_moveit_asistente_05.png|thumb|400px|center|[http://moveit.ros.org/ MoveIt!] setup assistant "Add Virtual Joint" window]]
−
||<center style="text-align: left">Para añadir la "Virtual Joint" pinchamos en "Save" ></center>
+
||<center style="text-align: left">Click on "Save" to add the "Virtual Joint"></center>
−
|||[[file:myrabot_moveit_asistente_06.png|thumb|400px|center|Ventana "Virtual Joints" asistente [http://moveit.ros.org/ moveIt!]]]
+
|||[[file:myrabot_moveit_asistente_06.png|thumb|400px|center|[http://moveit.ros.org/ MoveIt!] setup assistant "Virtual Joints" window]]
 
|}
 
|}
  
−
En el menú de la izquierda seleccionaremos "Planning Groups" y pincharemos en "Add group". En el campo "Group Name" escribiremos '''brazo''' y en el campo "Kinematic Solver" seleccionaremos '''kdl_kinematics_plugin/KDLKinematicsPlugin''', el resto de campos se dejarán como viene por defecto como se muestra en la siguiente imagen:
+
We will select "Planning Groups" in the menu of the left side of the window and we will click on "Add Group". We will write '''brazo''' in the field "Group Name", we will select '''kdl_kinematics_plugin/KDLKinematicsPlugin''' in the field "Kinematic Solver" and we will leave the rest of fields with the default value. The procedure is shown in the next pictures:
  
 
{| style="border: solid 0px white; width: 100%"
 
{| style="border: solid 0px white; width: 100%"
Line 975: Line 1,210:
 
|
 
|
 
|-
 
|-
−
|[[file:myrabot_moveit_asistente_07.png|thumb|300px|center|Ventana añadir "Group" asistente [http://moveit.ros.org/ moveIt!]]]
+
|[[file:myrabot_moveit_asistente_07.png|thumb|300px|center|[http://moveit.ros.org/ MoveIt!] setup assistant "Add Group" window]]
−
||<center style="text-align: left">Para añadir articulaciones pinchamos en "Add Joints" >
+
||<center style="text-align: left">Click on "Add Joints" to add the group joints>
−
<br><br>Seleccionamos de la lista las articulaciones del brazo (<font style="font-weight: bold">base, arti1, arti2, arti3</font>) ></center>
+
<br><br>Select from the list the joints of the arm (<font style="font-weight: bold">base, arti1, arti2, arti3</font>)></center>
−
|||[[file:myrabot_moveit_asistente_08.png|thumb|300px|center|Ventana añadir "Joints" a "Group" asistente [http://moveit.ros.org/ moveIt!]]]
+
|||[[file:myrabot_moveit_asistente_08.png|thumb|300px|center|[http://moveit.ros.org/ MoveIt!] setup assistant "Add Joints" to "Group" window]]
−
||||<center style="text-align: left">Para añadir "Joints" y "Group" pinchamos en "Save" ></center>
+
||||<center style="text-align: left">Click on "Save" to add "Joints" and "Group"></center>
−
|||||[[file:myrabot_moveit_asistente_09.png|thumb|300px|center|Ventana "Planning Group" asistente [http://moveit.ros.org/ moveIt!]]]
+
|||||[[file:myrabot_moveit_asistente_09.png|thumb|300px|center|[http://moveit.ros.org/ MoveIt!] setup assistant "Planning Group" window]]
 
|}
 
|}
−
También debemos añadir el grupo de la pinza pinchando en "Add group". En el campo "Group Name" escribiremos '''pinza''' y en el campo "Kinematic Solver" seleccionaremos '''None''', el resto de campos se dejarán como viene por defecto como se muestra en la siguiente imagen:
+
 
 +
As well we must add the gripper group clicking on "Add Group". We will write '''pinza''' in the field "Group Name", we will select '''None''' in the field "Kinematic Solver" and we will leave the rest of fields with the default value. The procedure is shown in the next pictures:  
  
 
{| style="border: solid 0px white; width: 100%"
 
{| style="border: solid 0px white; width: 100%"
Line 989: Line 1,225:
 
|
 
|
 
|-
 
|-
−
|[[file:myrabot_moveit_asistente_10.png|thumb|300px|center|Ventana añadir "Group" asistente [http://moveit.ros.org/ moveIt!]]]
+
|[[file:myrabot_moveit_asistente_10.png|thumb|300px|center|[http://moveit.ros.org/ MoveIt!] setup assistant "Add Group" window]]
−
||<center style="text-align: left">Para añadir partes pinchamos en "Add Links" >
+
||<center style="text-align: left">Click on "Add Links" to add the group links>
−
<br><br>Seleccionamos de la lista las partes de la pinza ></center>
+
<br><br>Select from the list the links of the gripper></center>
−
|||[[file:myrabot_moveit_asistente_11.png|thumb|300px|center|Ventana añadir "Links" a "Group" asistente [http://moveit.ros.org/ moveIt!]]]
+
|||[[file:myrabot_moveit_asistente_11.png|thumb|300px|center|[http://moveit.ros.org/ MoveIt!] setup assistant "Add Links" to "Group" window]]
−
||||<center style="text-align: left">Para añadir "Links" y "Group" pinchamos en "Save" ></center>
+
||||<center style="text-align: left">Click on "Save" to add "Links" and "Group"></center>
−
|||||[[file:myrabot_moveit_asistente_12.png|thumb|300px|center|Ventana "Planning Group" asistente [http://moveit.ros.org/ moveIt!]]]
+
|||||[[file:myrabot_moveit_asistente_12.png|thumb|300px|center|[http://moveit.ros.org/ MoveIt!] setup assistant "Planning Group" window]]
 
|}
 
|}
  
−
Podemos establecer posiciones predefinidas para el brazo y así poder reutilizarlas. En el menú de la izquierda seleccionaremos "Robot Poses" y pincharemos en "Add Pose". En el campo "Pose Name" escribiremos '''home''' y en el campo "Planning Group" seleccionaremos '''brazo'''. Con los cursores podemos modificar la posición de cada articulación para establecer la posición deseada, como se muestra en la siguiente imagen:
+
We can store regular poses for the arm group in order to set this poses in the future. We will select "Robot Poses" in the menu of the left side of the window and we will click on "Add Pose". We will write '''home''' in the field "Pose Name" and we will select '''brazo''' in the field "Planning Group". We can modify the position of each joint using the slider. The procedure is shown in the next pictures:
  
 
{| style="border: solid 0px white; width: 100%"
 
{| style="border: solid 0px white; width: 100%"
Line 1,004: Line 1,240:
 
|
 
|
 
|-
 
|-
−
|[[file:myrabot_moveit_asistente_13.png|thumb|400px|center|Ventana añadir "Robot Pose" asistente [http://moveit.ros.org/ moveIt!]]]
+
|[[file:myrabot_moveit_asistente_13.png|thumb|400px|center|[http://moveit.ros.org/ MoveIt!] setup assistant "Add Pose" window]]
−
||<center style="text-align: left">Para añadir la "Robot Pose" pinchamos en "Save" ></center>
+
||<center style="text-align: left">Click on "Save" to add the "Robot Pose"></center>
−
|||[[file:myrabot_moveit_asistente_14.png|thumb|400px|center|Ventana "Robot Pose" asistente [http://moveit.ros.org/ moveIt!]]]
+
|||[[file:myrabot_moveit_asistente_14.png|thumb|400px|center|[http://moveit.ros.org/ MoveIt!] setup assistant "Robot Pose" window]]
 
|}
 
|}
  
−
En el menú de la izquierda seleccionaremos "End Effectors" y pincharemos en "Add End Effector". En el campo "End Effector Name" escribiremos '''pinza_eef''', en el campo "End Effector Group" seleccionaremos '''pinza''', en el campo "Parent Link" seleccionaremos '''arti3_link''' y el campo "Parent Group" lo dejaremos en blanco, como se ,muestra en la imagen:
+
We will select "End Effectors" in the menu of the left side of the window and we will click on "Add End Effector". We will write '''pinza_eef''' in the field "End Effector Name", we will select ''''pinza''' in the field "End Effector Group", we will select '''arti3_link''' in the field "Parent Link" and we will leave blank the field "Parent Group". The procedure is shown in the next pictures:
  
 
{| style="border: solid 0px white; width: 100%"
 
{| style="border: solid 0px white; width: 100%"
Line 1,016: Line 1,252:
 
|
 
|
 
|-
 
|-
−
|[[file:myrabot_moveit_asistente_15.png|thumb|400px|center|Ventana añadir "End Effector" asistente [http://moveit.ros.org/ moveIt!]]]
+
|[[file:myrabot_moveit_asistente_15.png|thumb|400px|center|[http://moveit.ros.org/ MoveIt!] setup assistant "Add End Effector" window]]
−
||<center style="text-align: left">Para añadir el "End Effector" pinchamos en "Save" ></center>
+
||<center style="text-align: left">Click on "Save" to add the "End Effector"></center>
−
|||[[file:myrabot_moveit_asistente_16.png|thumb|400px|center|Ventana "End Effectors" asistente [http://moveit.ros.org/ moveIt!]]]
+
|||[[file:myrabot_moveit_asistente_16.png|thumb|400px|center|[http://moveit.ros.org/ MoveIt!] setup assistant "End Effectors" window]]
 
|}
 
|}
 +
To finish, we will select "Configuration Files" in the menu of the left side of the window and we will click on "Browse" in order to select the path and the name for the configuration ''package''. We will click on "Generate Package" to generate the ''package''. The result is shown in the next picture:
  
−
Para finalizar seleccionamos "Configuration Files" en el menú de la izquierda y  pincharemos en "Browse" para seleccionar la ubicación y nombre del ''package'' de configuración. Para generar el ''package'' simplemente pincharemos en "Generate Package", como se muestra en la imagen:
+
[[file:myrabot_moveit_asistente_18.png|thumb|400px|center|[http://moveit.ros.org/ MoveIt!] setup assistant final window]]
−
 
 
−
[[file:myrabot_moveit_asistente_18.png|thumb|400px|center|Ventana final asistente [http://moveit.ros.org/ moveIt!]]]
 
  
−
===Integración de controladores del brazo===
+
==Integration of arm's controllers==
  
−
Crearemos un archivo llamado "controllers.yaml" dentro del directorio "config" del ''package'' de configuración de [http://moveit.ros.org/ moveIt!] creado con el siguiente contenido:
+
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:
  
 
<syntaxhighlight>
 
<syntaxhighlight>
Line 1,044: Line 1,279:
 
</syntaxhighlight>
 
</syntaxhighlight>
  
−
Editaremos el archivo "MYRAbot_moveit_controller_manager.launch.xml" situado en el directorio "launch" del ''package'' de configuración de [http://moveit.ros.org/ moveIt!] creado para que su contenido sea el siguiente:
+
We have to add the nest code lines in the file "MYRAbot_moveit_controller_manager.launch.xml" placed in the folder "launch" of the generated [http://moveit.ros.org/ moveIt!] ''package'':
  
 
<syntaxhighlight lang="xml" enclose="div">
 
<syntaxhighlight lang="xml" enclose="div">
Line 1,061: Line 1,296:
 
</syntaxhighlight>
 
</syntaxhighlight>
  
−
===Integración de sensores de percepción===
+
==Integration of perception sensors==
  
−
Dentro de estos sensores tenemos la [http://www.asus.com/Multimedia/Xtion_PRO_LIVE/ asus xtion pro live] y la [http://www.microsoft.com/en-us/kinectforwindows/ kinect], con las cuales puede estar equipado MYRAbot y las cuales se configuran de igual modo. Crearemos un archivo llamado "xtion.yaml" dentro del directorio "config" del ''package'' de configuración de [http://moveit.ros.org/ moveIt!] creado con el siguiente contenido:
+
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:
  
 
<syntaxhighlight>
 
<syntaxhighlight>
Line 1,078: Line 1,313:
 
</syntaxhighlight>
 
</syntaxhighlight>
  
−
Editaremos el archivo "MYRAbot_moveit_sensor_manager.launch.xml" situado en el directorio "launch" del ''package'' de configuración de [http://moveit.ros.org/ moveIt!] creado para que su contenido sea el siguiente:
+
We have to add the nest code lines in the file "MYRAbot_moveit_sensor_manager.launch.xml" placed in the folder "launch" of the generated [http://moveit.ros.org/ moveIt!] ''package'':
  
 
<syntaxhighlight lang="xml" enclose="div">
 
<syntaxhighlight lang="xml" enclose="div">
Line 1,093: Line 1,328:
 
</syntaxhighlight>
 
</syntaxhighlight>
  
−
Tenemos que añadir el valor '''move_group/MoveGroupGetPlanningSceneService''' al parámetro "capabilities" en el archivo "move_group.launch" que se encuantra dentro del directorio "launch" del ''package'' de configuración de [http://moveit.ros.org/ moveIt!] creado, quedando como se muestra a continuación:
+
We have to add the value '''move_group/MoveGroupGetPlanningSceneService'' in the parameter "papabilities" in the file "move_group.launch" placed in the folder "launch" of the generated [http://moveit.ros.org/ moveIt!] ''package'', like is shown below:
  
 
<syntaxhighlight lang="xml" enclose="div">
 
<syntaxhighlight lang="xml" enclose="div">
Line 1,115: Line 1,350:
 
</syntaxhighlight>
 
</syntaxhighlight>
  
−
===Modificación del archivo .srdf generado===
+
==Modification of the .srdf file generated==
  
−
Tenemos que modificar el archivo "MYRAbot.srdf" generado por el asistente para remplazar las comas por puntos en los valores de las posiciones de las articulaciones guardados, como se muestra a continuación:
+
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:
  
 
<syntaxhighlight lang="xml" enclose="div">
 
<syntaxhighlight lang="xml" enclose="div">
Line 1,128: Line 1,363:
 
     </group_state>
 
     </group_state>
  
−
por
+
by
  
 
     <group_state name="home" group="brazo">
 
     <group_state name="home" group="brazo">
Line 1,139: Line 1,374:
 
</syntaxhighlight>
 
</syntaxhighlight>
  
−
==Ejecución==
+
=Execution=
  
−
===Planificación simple===
+
==Simple planning==
  
−
Para probar que MYRAbot funciona correctamente en [http://moveit.ros.org/ moveIt!] podemos iniciar el ''launcher'' "demo.launch" contenido en el directorio "launch" del ''package'' generado, ejecutando en un terminal el siguiente comando:
+
We will execute the next command in a terminal in order to test that the MYRAbot works properly in [http://moveit.ros.org/ moveIt!]:
  
 
<syntaxhighlight>roslaunch myrabot_moveit_generated demo.launch</syntaxhighlight>
 
<syntaxhighlight>roslaunch myrabot_moveit_generated demo.launch</syntaxhighlight>
  
−
Se cargará el modelo de MYRAbot en [http://wiki.ros.org/rviz rviz] con el "Motion Planning Interface" de [http://moveit.ros.org/ moveIt!], como se muestra en la siguiente imagen:
+
When the load process finish we can see the MYRAbot model in [http://wiki.ros.org/rviz rviz] with the Motion Planning Interface of [http://moveit.ros.org/ moveIt!], like is shown in the next picture:
  
−
[[file:myrabot_moveit_plugin_rviz.png|thumb|500px|center|MYRAbot en [http://wiki.ros.org/rviz rviz] con ''plugin'' de [http://moveit.ros.org/ moveIt!]]]
+
[[file:myrabot_moveit_plugin_rviz.png|thumb|500px|center|MYRAbot in [http://wiki.ros.org/rviz rviz] with ''plugin'' of [http://moveit.ros.org/ moveIt!]]]
  
−
Podemos ver, si esta seleccionado el modo "interact", unos ''interactive markers'' en torno a la pinza mediante los cuales podremos interactuar con la representación de los estados inicial y final del brazo. Si desplegamos la opción '''Planning Request''' dentro de '''MotionPlanning''', podemos activa o desactivar la representación del estado inicial '''Query Start State''' (representado en verde) o la representación del estado final '''Query Goal State''' (representado en naranja). Cuando alguna de las partes del brazo entre en contacto con otra u otro objeto, estas cambiarán a color rojo.
+
If the interact mode is selected we can see a ''interactive markers'' around the gripper. We will use the interactive markers to interact with the representation of the start state and the goal state. If we open '''Planning Request''' within of '''MotionPlanning''' we can show or hide the representation of '''Query Start State''' (arm's joints green-coloured) and '''Query Goal State''' (arm's joints orange-coloured). When a part of the arm collides with other part of the robot or other object, its colour change to red.
  
−
En el siguiente vídeo podemos ver un proceso de planificación simple, sin obstáculos, que desplaza el brazo desde una posición inicio, en este caso la pose guardada "home", hasta una posición de destino, marcada desplazando el brazo usando los ''interantive markers'':
+
We can see in the next video a simple planning, without obstacles, that moves the arm from a start pose (stored pose home) until a goal pose (using the interactive marker):
  
 
<center><videoflash>doy6VRjzYZc</videoflash></center>
 
<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>
  
−
===Planificación con escena modelada===
+
==Planning with modelled scene==
  
−
Ejecutaremos el siguiente comando en un terminal para iniciar [http://wiki.ros.org/rviz rviz] con el modelo del robot y el "MotionPlanning" de [http://moveit.ros.org/ moveIt!]:
+
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!]:
  
 
<syntaxhighlight>roslaunch myrabot_moveit_generated demo.launch</syntaxhighlight>
 
<syntaxhighlight>roslaunch myrabot_moveit_generated demo.launch</syntaxhighlight>
  
−
Se ha creado una escena con figuras geométricas básicas que representan una mesa y una lata sobre esta. No se han empleado mallas 3D, ''meshes'', aunque es una opción disponible, ya que hay problemas de intercambio aleatorio entre las representaciones visuales de los objetos. Crearemos un archivo llamado "mesa_lata.scene" dentro de nuestra carpeta personal
+
We have created a scene with basic geometry figures that represent a table and a can. We have not used 3D meshes because they may swap randomly. We will create a file named "mesa_lata.scene" within our personal folder with the content that is shown below:
−
con el siguiente contenido:
 
  
 
<syntaxhighlight>
 
<syntaxhighlight>
Line 1,217: Line 1,451:
 
</syntaxhighlight>
 
</syntaxhighlight>
  
−
Este archivo lo cargaremos en el menú '''Scene Objects''' de '''MotionPlanning''' pinchando en '''Import From Text'''. En el siguiente vídeo podemos ver el proceso de carga de la escena y la planificación de la trayectoria para evitar la lata, representada por un cilindro de color rojo, situada sobre la masa, desplazando el brazo desde un punto de partida a otro de destino entre los cuales se encuentra situada la lata:
+
We will load the scene clicking on '''Import From Text''' in the menu '''Scene Objects''' of '''MotionPlanning'''. We can see in the next video the load process and planning to avoid the can that is represents by a red cylinder over the table:
  
 
<center><videoflash>oWe_jj4keXU</videoflash></center>
 
<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>
  
−
===Planificación con robot en gazebo===
+
==Planning with robot in gazebo==
  
−
Crearemos un archivo llamado "myrabot_gazebo_moveit_mesa+latas.launch" dentro del directorio "launch" del ''package'' "myrabot_fer_modelo" con el siguiente contenido, para cargar [[Modelo para simulación MYRAbot (urdf+gazebo)#Creación de modelos de objetos|los modelos de los objetos]] (mesa y latas):
+
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):
  
 
<syntaxhighlight lang="xml" enclose="div">
 
<syntaxhighlight lang="xml" enclose="div">
Line 1,242: Line 1,476:
 
</launch>
 
</launch>
  
−
</syntaxhighlight>
+
</syntaxhighlight>
  
−
Crearemos otro archivo llamado "moveit_planning_execution.launch" dentro del directorio "launch" del ''package'' de configuración de [http://moveit.ros.org/ moveIt!] con el siguiente contenido, para iniciar el interfaz de planificación de movimientos:
+
We will create a file named "moveit_planning_execution.launch" within the folder "launch" of the created [http://moveit.ros.org/ moveIt!] ''package'' with the content that is shown below:
  
 
<syntaxhighlight lang="xml" enclose="div">
 
<syntaxhighlight lang="xml" enclose="div">
Line 1,259: Line 1,493:
 
</launch>
 
</launch>
  
−
</syntaxhighlight>
+
</syntaxhighlight>  
  
−
Ejecutaremos el siguiente comando en un terminal para iniciar [http://wiki.ros.org/simulator_gazebo?distro=electric gazebo] con los modelos del robot y los objetos:
+
We will execute the next command in a terminal in order to start [http://wiki.ros.org/simulator_gazebo?distro=electric gazebo] with the robot model and objects' models:
  
−
<syntaxhighlight>roslaunch myrabot_robot_model myrabot_gazebo_moveit_mesa+latas.launch</syntaxhighlight>
+
<syntaxhighlight>roslaunch myrabot_fer_modelo myrabot_gazebo_moveit_mesa+latas.launch</syntaxhighlight>
  
−
En otro terminal ejecutaremos el siguiente comando para iniciar [http://wiki.ros.org/rviz rviz] con el "Motion Planning Interface" de [http://moveit.ros.org/ moveIt!]:
+
We will execute the next command in a new terminal in order to start [http://wiki.ros.org/rviz rviz] with the "Motion Planning Interface" of [http://moveit.ros.org/ moveIt!]:
  
 
<syntaxhighlight>roslaunch myrabot_moveit_generated moveit_planning_execution.launch</syntaxhighlight>
 
<syntaxhighlight>roslaunch myrabot_moveit_generated moveit_planning_execution.launch</syntaxhighlight>
  
−
En el siguiente vídeo podemos ver el proceso de planificación y ejecución de la trayectoria para evitar la lata que se encuentra en medio de la trayectoria de las posiciones de inicio y destino, se planifica dos veces ya que la primera vez se detecta una colisión entre el brazo y la lata. La escena representada corresponde con la captada por el sensor de percepción situado por encima de la pantalla, donde se muestra el espacio ocupado mediante cubos con una tolerancia que permita evitar colisiones.
+
The represented scene in [http://wiki.ros.org/rviz rviz] corresponds with the scene captured by the perception sensor, the boxes represent the occupied space. We can see in the next video the planning to avoid the can and the replanning because the first calculated trajectory collides with the can:
  
 
<center><videoflash>xf1Jz1L-Xyc</videoflash></center>
 
<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==
 +
 
 +
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:
 +
 
 +
<syntaxhighlight lang="xml" enclose="div">
 +
 
 +
<launch>
 +
 
 +
  <param name="robot_description" command="$(find xacro)/xacro.py '$(find myrabot_fer_modelo)/urdf/myrabot_moveit.urdf.xacro'" />
 +
 
 +
  <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher"></node> 
 +
 
 +
  <node name="serial_node" pkg="rosserial_python" type="serial_node.py" args="/dev/ttyACM0" />
 +
 
 +
  <node name="joint_states_brazo" pkg="brazo_fer" type="joint_states_brazo" />
 +
 
 +
  <group ns="brazo_controller">
 +
 
 +
    <node name="follow_joint_trajectory" pkg="brazo_fer" type="controlador_moveit" output="screen" />
 +
 
 +
  </group>
 +
 
 +
</launch>
 +
 
 +
</syntaxhighlight>
 +
 
 +
We will execute the next command in a terminal in order to start the arm control:
 +
 
 +
<syntaxhighlight>roslaunch brazo_fer controlador_moveit.launch</syntaxhighlight>
 +
 
 +
In a new terminal we will execute the next command in order to start [http://wiki.ros.org/rviz rviz] with the "Motion Planning Interface" of [http://moveit.ros.org/ moveIt!]
 +
 
 +
<syntaxhighlight>roslaunch myrabot_moveit_generated moveit_planning_execution.launch</syntaxhighlight>
 +
 
 +
We can see in the next video the real arm executing the planned trajectories in order to reach the positions that we have indicated on robot model using ''interactive markers'':
 +
 
 +
<center><videoflash>Kz7bKL4ZP98</videoflash></center>
 +
 
 +
<center>[http://www.youtube.com/watch?v=Kz7bKL4ZP98 Watch in YouTube]</center>
 +
 
 +
 
 +
----
 +
{| style="border: solid 0px white; width: 100%"
 +
!Related articles
 +
----
 +
!Other articles
 +
----
 +
|-
 +
| valign="top" width="50%" |
 +
 
 +
[[MYRAbot's arm control (bioloid+arduino)]]<br/>
 +
[[Objects recognition and position calculation (webcam)]]<br/>
 +
[[MYRAbot's arm model for simulation (urdf+gazebo)]]<br/>
 +
[[MYRAbot model for simulation (urdf+gazebo)]]<br/>
 +
[[Voice control (sphinx+festival)]]<br/>
 +
[[MYRAbot's Teleoperation with xbox360 wireless controller (xbox360 controller+joy)]]
 +
 
 +
| valign="top" |
 +
 
 +
[[CeRVaNTeS' arm and base control (maxon+epos2)]]<br/>
 +
[[CeRVaNTeS' arm model for simulation (urdf+gazebo)]]<br/>
 +
[[Integration of CeRVaNTeS in moveIt! (gazebo+moveIt!)]]<br/>
 +
[[CeRVaNTeS' Teleoperation with xbox360 wireless controller (xbox360 controller+joy)]]
 +
 
 +
|}
 +
----
  
−
-->
 
  
 
[[Mobile manipulation | < go back to main]]
 
[[Mobile manipulation | < go back to main]]

Latest revision as of 11:11, 29 September 2014

< go back to main


Related articles
Other articles

MYRAbot's arm control (bioloid+arduino)
Objects recognition and position calculation (webcam)
MYRAbot's arm model for simulation (urdf+gazebo)
MYRAbot model for simulation (urdf+gazebo)
Voice control (sphinx+festival)
MYRAbot's Teleoperation with xbox360 wireless controller (xbox360 controller+joy)

CeRVaNTeS' arm and base control (maxon+epos2)
CeRVaNTeS' arm model for simulation (urdf+gazebo)
CeRVaNTeS model for simulation (urdf+gazebo)
Integration of CeRVaNTeS in moveIt! (gazebo+moveIt!)
CeRVaNTeS' Teleoperation with xbox360 wireless controller (xbox360 controller+joy)


Previous steps

Installation of moveIt!

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 ROS distributions groovy and hydro, for this reason we must have installed some of these. We will execute the next command in a terminal in order to install moveIt!, where "ROS_DISTRIBUCION" is our installed distribution: 

sudo apt-get install ros-ROS_DISTRIBUCION-moveit-full

Modification of MYRAbot model for moveIt!

New URDF of the arm

We need to modify the type of the gazebo controllers of the arm's joints in order to allow to 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: 

<?xml version="1.0"?>

<robot xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" xmlns:xacro="http://ros.org/wiki/xacro">

  <property name="M_PI" value="3.14159"/>
  <property name="M_SCALE" value="0.001"/>
  <property name="F10_HEIGHT" value="0.004"/>
  <property name="F4_HEIGHT" value="0.0525"/>
  <property name="F3_HEIGHT" value="0.009"/>
  <property name="AX12_HEIGHT" value="0.0385"/>
  <property name="AX12_WIDTH" value="0.038"/>
  <property name="F2_HEIGHT" value="0.0265"/>
  
  <material name="white">
    <color rgba="0.87 0.90 0.87 1.0"/>
  </material>
  <material name="black">
    <color rgba="0.0 0.0 0.0 1.0"/>
  </material>
  
<xacro:macro name="default_inertia">
      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
</xacro:macro>

<xacro:macro name="default_inertia_servos">
      <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01"/>
</xacro:macro>

<xacro:macro name="default_dynamics">
      <dynamics fricction="0" damping="0" />
</xacro:macro> 

  <xacro:macro name="bioloid_F10_fixed" params="parent name color *origin">
    <joint name="${name}_joint" type="fixed">
      <insert_block name="origin" />
      <parent link="${parent}"/>
      <child link="${name}_link" />
    </joint>

    <link name="${name}_link">
      <inertial>
        <mass value="0.001" />
        <origin xyz="0 0 0" />
		<default_inertia/>
      </inertial>

      <visual>
        <origin xyz=" 0 0 0 " rpy="0 0 0" />
        <geometry>
          <mesh filename="package:/brazo_fer_modelo/meshes/F10.stl" scale="${M_SCALE} ${M_SCALE} ${M_SCALE}"/>
        </geometry>
        <material name="${color}"/>
      </visual>

      <collision>
        <origin xyz=" 0 0 0 " rpy="0 0 0" />
        <geometry>
          <mesh filename="package://brazo_fer_modelo/meshes/F10.stl" scale="${M_SCALE} ${M_SCALE} ${M_SCALE}"/>
        </geometry>
      </collision>
    </link>
  </xacro:macro>

  <xacro:macro name="finger_fixed" params="parent name color *origin">
    <joint name="${name}_joint" type="fixed">
      <insert_block name="origin" />
      <parent link="${parent}"/>
      <child link="${name}_link" />
    </joint>

    <link name="${name}_link">
      <inertial>
        <mass value="0.001" />
        <origin xyz="0 0 0" />
		<default_inertia/>
      </inertial>

      <visual>
        <origin xyz=" 0.03075 0.0 0.001 " rpy="0 0 0" />
        <geometry>
          <box size="0.0865 0.038 0.002" />
        </geometry>
        <material name="${color}"/>
      </visual>

      <collision>
        <origin xyz=" 0.03075 0.0 0.001 " rpy="0 0 0" />
        <geometry>
          <box size="0.0865 0.038 0.002" />
        </geometry>
      </collision>
    </link>
  </xacro:macro>

  <xacro:macro name="bioloid_F3_fixed" params="parent name color *origin">
    <joint name="${name}_joint" type="fixed">
      <insert_block name="origin" />
      <parent link="${parent}"/>
      <child link="${name}_link" />
    </joint>

    <link name="${name}_link">
      <inertial>
        <mass value="0.001" />
        <origin xyz="0 0 0" />
		<default_inertia/>
      </inertial>

      <visual>
        <origin xyz=" 0 0 0 " rpy="0 0 0" />
        <geometry>
          <mesh filename="package://brazo_fer_modelo/meshes/F3.stl" scale="${M_SCALE} ${M_SCALE} ${M_SCALE}"/>
        </geometry>
        <material name="${color}"/>
      </visual>

      <collision>
        <origin xyz=" 0 0 0 " rpy="0 0 0" />
        <geometry>
          <mesh filename="package://brazo_fer_modelo/meshes/F3.stl" scale="${M_SCALE} ${M_SCALE} ${M_SCALE}"/>
        </geometry>
      </collision>
    </link>
  </xacro:macro>

  <xacro:macro name="dynamixel_AX12_fixed" params="parent name *origin">
    <joint name="${name}_joint" type="fixed">
      <insert_block name="origin" />
      <parent link="${parent}"/>
      <child link="${name}_link" />
    </joint>

    <link name="${name}_link">
      <inertial>
        <mass value="0.055" />
        <origin xyz="0 0 0" />
		<default_inertia_servos/>
      </inertial>

      <visual>
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <mesh filename="package:/brazo_fer_modelo/meshes/ax12_box.stl" scale="${M_SCALE} ${M_SCALE} ${M_SCALE}"/>
        </geometry>
        <material name="black"/>
      </visual>

      <collision>
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <mesh filename="package:/brazo_fer_modelo/meshes/ax12_box.stl" scale="${M_SCALE} ${M_SCALE} ${M_SCALE}"/>
        </geometry>
      </collision>
    </link>
  </xacro:macro>

  <xacro:macro name="bioloid_F3_revolute" params="parent name color llimit ulimit vlimit *origin">
    <joint name="${name}" type="revolute">
      <insert_block name="origin" />
      <axis xyz="0 0 -1"/>
      <limit effort="100" velocity="${vlimit}" lower="${llimit}" upper="${ulimit}" />
	  <default_dynamics/>      
      <parent link="${parent}"/>
      <child link="${name}_brazo_link" />
    </joint>

    <link name="${name}_brazo_link">
      <inertial>
        <mass value="0.001" />
        <origin xyz="0 0 0" />
		<default_inertia/>
      </inertial>

      <visual>
        <origin xyz=" 0 0 0 " rpy="0 0 0" />
        <geometry>
          <mesh filename="package://brazo_fer_modelo/meshes/F3.stl" scale="${M_SCALE} ${M_SCALE} ${M_SCALE}"/>
        </geometry>
        <material name="${color}"/>
      </visual>

      <collision>
        <origin xyz=" 0 0 0 " rpy="0 0 0" />
        <geometry>
          <mesh filename="package://brazo_fer_modelo/meshes/F3.stl" scale="${M_SCALE} ${M_SCALE} ${M_SCALE}"/>
        </geometry>
      </collision>
    </link>
  </xacro:macro>

  <xacro:macro name="bioloid_F2_revolute" params="parent name color llimit ulimit vlimit *origin">
    <joint name="${name}" type="revolute">
      <insert_block name="origin" />
      <axis xyz="0 1 0"/>
      <limit effort="100" velocity="${vlimit}" lower="${llimit}" upper="${ulimit}" />
	  <default_dynamics/>       
      <parent link="${parent}"/>
      <child link="${name}_link" />
    </joint>

    <link name="${name}_link">
      <inertial>
        <mass value="0.001" />
        <origin xyz="0 0 0" />
		<default_inertia/>
      </inertial>

      <visual>
        <origin xyz=" 0 0 0 " rpy="0 0 0" />
        <geometry>
          <mesh filename="package://brazo_fer_modelo/meshes/F2.stl" scale="${M_SCALE} ${M_SCALE} ${M_SCALE}"/>
        </geometry>
        <material name="${color}"/>
      </visual>

      <collision>
        <origin xyz=" 0 0 0 " rpy="0 0 0" />
        <geometry>
          <mesh filename="package://brazo_fer_modelo/meshes/F2.stl" scale="${M_SCALE} ${M_SCALE} ${M_SCALE}"/>
        </geometry>
      </collision>
    </link>
  </xacro:macro>

  <xacro:macro name="bioloid_F4_revolute" params="parent name color llimit ulimit vlimit *origin">
    <joint name="${name}" type="revolute">
      <insert_block name="origin" />
      <axis xyz="0 1 0"/>
      <limit effort="100" velocity="${vlimit}" lower="${llimit}" upper="${ulimit}" />
	  <default_dynamics/>       
      <parent link="${parent}"/>
      <child link="${name}_link" />
    </joint>

    <link name="${name}_link">
      <inertial>
        <mass value="0.001" />
        <origin xyz="0 0 0" />
		<default_inertia/>
      </inertial>

      <visual>
        <origin xyz=" 0 0 0 " rpy="0 0 0" />
        <geometry>
          <mesh filename="package://brazo_fer_modelo/meshes/F4.stl" scale="${M_SCALE} ${M_SCALE} ${M_SCALE}"/>
        </geometry>
        <material name="${color}"/>
      </visual>

      <collision>
        <origin xyz=" 0 0 0 " rpy="0 0 0" />
        <geometry>
          <mesh filename="package://brazo_fer_modelo/meshes/F4.stl" scale="${M_SCALE} ${M_SCALE} ${M_SCALE}"/>
        </geometry>
      </collision>
    </link>
  </xacro:macro>

<xacro:macro name="gazebo_propiedades_link" params="nombre material">
  <gazebo reference="${nombre}">
	<mu1>100</mu1>
	<mu2>100</mu2>
	<kp>100000000000</kp>
	<kd>1000000000</kd>
	<material>${material}</material>
    <selfCollide>true</selfCollide>
    <turnGravityOff>false</turnGravityOff> 
  </gazebo>
</xacro:macro>

<xacro:macro name="gazebo_propiedades_joint" params="nombre">
 <gazebo reference="${nombre}">
    <erp>0.1</erp>
    <stopKd value="100000000.0" />
    <stopKp value="100000000.0" />
    <fudgeFactor value="0.5" />
 </gazebo>
</xacro:macro> 

<gazebo>
  <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">

  </plugin>
</gazebo>

  <transmission name="base_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="base"/>
    <actuator name="base_motor">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  
  <transmission name="arti1_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="arti1"/>
    <actuator name="arti1_motor">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  
  <transmission name="arti2_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="arti2"/>
    <actuator name="arti3_motor">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  
  <transmission name="arti3_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="arti3"/>
    <actuator name="arti3_motor">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  
  <transmission name="pinza_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="pinza"/>
    <actuator name="pinza_motor">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>  

</robot>

We will add the next files within the folder "meshes" of the package "brazo_fer_modelo":

We will create a file named "brazo_moveit.xacro" within the folder "urdf" of the package "brazo_fer_modelo" with the content that is shown below: 

<?xml version="1.0"?>

<robot xmlns:xacro="http://ros.org/wiki/xacro">

	<xacro:include filename="$(find brazo_fer_modelo)/urdf/brazo-macros_moveit.xacro" />
    
<xacro:macro name="brazo" params="parent *origin">
	
  <joint name="fixed" type="fixed">
    <parent link="${parent}"/>
    <child link="fixed_link"/>
    <insert_block name="origin" />
    <axis xyz="0 0 1" />  
  </joint>
  
  <link name="fixed_link"/>	

    <!-- shoulder pan joint -->
    <dynamixel_AX12_fixed parent="fixed_link" name="servo_base">
      <origin xyz="0 0 0.019" rpy="${M_PI/2} 0 ${-M_PI/2}"/>
    </dynamixel_AX12_fixed>
    <bioloid_F3_revolute parent="servo_base_link" name="base" color="white" vlimit="3" llimit="-2.62" ulimit="2.62">
      <origin xyz="0 ${AX12_WIDTH/2} 0" rpy="${-M_PI/2} ${-M_PI/2} ${-M_PI}" />
    </bioloid_F3_revolute>

    <!-- shoulder lift joint -->
    <dynamixel_AX12_fixed parent="base_brazo_link" name="servo_arti1">
      <origin xyz="0 0 ${-AX12_HEIGHT-F10_HEIGHT+0.001}" rpy="0 ${M_PI} 0" />
    </dynamixel_AX12_fixed>
    <bioloid_F4_revolute parent="servo_arti1_link" name="arti1" color="white" vlimit="3" llimit="-2.62" ulimit="2.62">
      <origin xyz="0 0 0" rpy="0 0 0" />
    </bioloid_F4_revolute>
    <bioloid_F10_fixed parent="arti1_link" name="arti1_F10_0" color="white">
      <origin xyz="0 0 ${F4_HEIGHT+F10_HEIGHT/2}" rpy="0 0 0" />
    </bioloid_F10_fixed>
    <bioloid_F10_fixed parent="arti1_F10_0_link" name="arti1_F10_1" color="white">
      <origin xyz="0 0 ${F10_HEIGHT}" rpy="0 0 0" />
    </bioloid_F10_fixed>
    <bioloid_F10_fixed parent="arti1_F10_1_link" name="arti1_F10_2" color="white">
      <origin xyz="0 0 ${F10_HEIGHT}" rpy="0 0 0" />
    </bioloid_F10_fixed>
    <bioloid_F3_fixed parent="arti1_F10_2_link" name="arti1_F3_0" color="white">
      <origin xyz="0 0 ${F10_HEIGHT/2}" rpy="0 ${M_PI} 0" />
    </bioloid_F3_fixed>

    <!-- elbow joint -->
    <dynamixel_AX12_fixed parent="arti1_F3_0_link" name="servo_arti2">
      <origin xyz="0 0 ${-AX12_HEIGHT-F10_HEIGHT+0.001}" rpy="0 ${M_PI} 0"/>
    </dynamixel_AX12_fixed>
    <bioloid_F4_revolute parent="servo_arti2_link" name="arti2" color="white" vlimit="3" llimit="-2.63" ulimit="2.63">
      <origin xyz="0 0 0" rpy="0 0 0" />
    </bioloid_F4_revolute>
    <bioloid_F10_fixed parent="arti2_link" name="arti2_F10_0" color="white">
      <origin xyz="0 0 ${F4_HEIGHT+F10_HEIGHT/2}" rpy="0 0 0" />
    </bioloid_F10_fixed>
    <bioloid_F10_fixed parent="arti2_F10_0_link" name="arti2_F10_1" color="white">
      <origin xyz="0 0 ${F10_HEIGHT}" rpy="0 0 0" />
    </bioloid_F10_fixed>
    <bioloid_F10_fixed parent="arti2_F10_1_link" name="arti2_F10_2" color="white">
      <origin xyz="0 0 ${F10_HEIGHT}" rpy="0 0 0" />
    </bioloid_F10_fixed>
    <bioloid_F3_fixed parent="arti2_F10_2_link" name="arti2_F3_0" color="white">
      <origin xyz="0 0 ${F10_HEIGHT/2}" rpy="0 ${M_PI} 0" />
    </bioloid_F3_fixed>

    <!-- wrist joint -->
    <dynamixel_AX12_fixed parent="arti2_F3_0_link" name="servo_arti3">
      <origin xyz="0 0 ${-AX12_HEIGHT-F10_HEIGHT+0.001}" rpy="0 ${M_PI} 0"/>
    </dynamixel_AX12_fixed>
    <bioloid_F2_revolute parent="servo_arti3_link" name="arti3" color="white" vlimit="3" llimit="-2.62" ulimit="2.62">
      <origin xyz="0 0 0" rpy="0 0 0" />
    </bioloid_F2_revolute>
    <bioloid_F3_fixed parent="arti3_link" name="arti3_F3_0" color="white">
      <origin xyz="0 0.016 ${F2_HEIGHT}" rpy="0 ${M_PI} ${-M_PI/2}" />
    </bioloid_F3_fixed>

    <!-- gripper joint -->
    <dynamixel_AX12_fixed parent="arti3_F3_0_link" name="servo_pinza">
      <origin xyz="-0.02275 0 ${-AX12_WIDTH/2}" rpy="${M_PI} ${M_PI/2} 0"/>
    </dynamixel_AX12_fixed>

    <!-- finger 1 -->
    <joint name="pinza" type="revolute">
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <axis xyz="0 1 0"/>
      <limit effort="100" velocity="3" lower="-2.62" upper="2.62" />
      <default_dynamics/>
      <parent link="servo_pinza_link"/>
      <child link="pinza_movil_link" />
    </joint>
    <link name="pinza_movil_link">
      <inertial>
        <mass value="0.001" />
        <origin xyz="0 0 0" />
        <default_inertia/>      
      </inertial>
      <visual>
        <origin xyz=" 0 0 0 " rpy="0 0 0" />
        <geometry>
          <mesh filename="package://brazo_fer_modelo/meshes/F2.stl" scale="${M_SCALE} ${M_SCALE} ${M_SCALE}"/>
        </geometry>
        <material name="white"/>
      </visual>
      <collision>
        <origin xyz=" 0 0 0 " rpy="0 0 0" />
        <geometry>
          <mesh filename="package://brazo_fer_modelo/meshes/F2.stl" scale="${M_SCALE} ${M_SCALE} ${M_SCALE}"/>
        </geometry>
      </collision>
    </link>
    <finger_fixed parent="pinza_movil_link" name="pinza_movil_dedo" color="white">
      <origin xyz="0 0 ${F2_HEIGHT}" rpy="0 0 0" />
    </finger_fixed>

    <!-- finger 2 -->
    <bioloid_F3_fixed parent="servo_pinza_link" name="pinza_fija" color="white">
      <origin xyz="0 0 ${-AX12_HEIGHT-F10_HEIGHT+0.001}" rpy="0 ${M_PI} 0" />
    </bioloid_F3_fixed>
    <finger_fixed parent="pinza_fija_link" name="pinza_fija_dedo" color="white">
      <origin xyz="0 0 0" rpy="0 0 ${M_PI}" />
    </finger_fixed>


<gazebo_propiedades_link nombre="servo_base_link" material="brazo_fer/Black" />

<gazebo_propiedades_link nombre="base_brazo_link" material="brazo_fer/White" />
  
<gazebo_propiedades_link nombre="servo_arti1_link" material="brazo_fer/Black" />  
  
<gazebo_propiedades_link nombre="arti1_link" material="brazo_fer/White" />
   
<gazebo_propiedades_link nombre="arti1_F10_0_link" material="brazo_fer/White" />
  
<gazebo_propiedades_link nombre="arti1_F10_1_link" material="brazo_fer/White" />   
  
<gazebo_propiedades_link nombre="arti1_F10_2_link" material="brazo_fer/White" />
 
<gazebo_propiedades_link nombre="arti1_F3_0_link" material="brazo_fer/White" />

<gazebo_propiedades_link nombre="servo_arti2_link" material="brazo_fer/Black" />  
  
<gazebo_propiedades_link nombre="arti2_link" material="brazo_fer/White" />
   
<gazebo_propiedades_link nombre="arti2_F10_0_link" material="brazo_fer/White" />
  
<gazebo_propiedades_link nombre="arti2_F10_1_link" material="brazo_fer/White" />   
  
<gazebo_propiedades_link nombre="arti2_F10_2_link" material="brazo_fer/White" /> 

<gazebo_propiedades_link nombre="arti2_F3_0_link" material="brazo_fer/White" /> 

<gazebo_propiedades_link nombre="servo_arti3_link" material="brazo_fer/Black" />  
  
<gazebo_propiedades_link nombre="arti3_link" material="brazo_fer/White" />
   
<gazebo_propiedades_link nombre="arti3_F3_0_link" material="brazo_fer/White" />
 
<gazebo_propiedades_link nombre="servo_pinza_link" material="brazo_fer/Black" /> 

<gazebo_propiedades_link nombre="pinza_movil_link" material="brazo_fer/White" />      
  
<gazebo_propiedades_link nombre="pinza_movil_dedo_link" material="brazo_fer/WhiteTransparent" />

<gazebo_propiedades_link nombre="pinza_fija_link" material="brazo_fer/White" />  

<gazebo_propiedades_link nombre="pinza_fija_dedo_link" material="brazo_fer/WhiteTransparent" />  
  

<gazebo_propiedades_joint nombre="base" />
  
<gazebo_propiedades_joint nombre="arti1" />

<gazebo_propiedades_joint nombre="arti2" />

<gazebo_propiedades_joint nombre="arti3" />
 
<gazebo_propiedades_joint nombre="pinza" />

</xacro:macro>
     
</robot>

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: 

  # Publish all joint states -----------------------------------
  joint_state_controller:
    type: joint_state_controller/JointStateController
    publish_rate: 50  
  
  # Position Controllers ---------------------------------------   
  pinza_pos_controller:
    type: effort_controllers/JointPositionController
    joint: pinza
    pid: {p: 0.8, i: 0.6, d: 0.3, i_clamp: 1}

  brazo_controller:
    type: effort_controllers/JointTrajectoryController
    joints:
      - arti1
      - arti2
      - arti3
      - base

    gains: # Required because we're controlling an effort interface
      arti1: {p: 1.0, i: 0.6, d: 0.3, i_clamp: 10}
      arti2: {p: 1.0, i: 0.6, d: 0.3, i_clamp: 10}
      arti3: {p: 1.0, i: 0.6, d: 0.3, i_clamp: 10}
      base: {p: 1.0, i: 0.6, d: 0.3, i_clamp: 10}

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 moveIt! with the 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: 

#include <ros/ros.h>
#include <ros/time.h>
#include <trajectory_msgs/JointTrajectoryPoint.h>
#include <trajectory_msgs/JointTrajectory.h>
#include <myrabot_arm_base_b/WriteServos.h>
#include <myrabot_arm_base_b/ReadServos.h>
#include <actionlib/server/simple_action_server.h>
#include <control_msgs/FollowJointTrajectoryAction.h>

#define PI 3.14159265

class MYRAbotArm
{
public:

  MYRAbotArm(std::string name) :
    as_(nh_, name, false),
    action_name_(name)
  {
    as_.registerGoalCallback(boost::bind(&MYRAbotArm::goalCB, this));
    as_.registerPreemptCallback(boost::bind(&MYRAbotArm::preemptCB, this));

    sub_pose_arm_ = nh_.subscribe("/pose_arm", 1, &MYRAbotArm::analysisCB, this);

    pub_move_arm_ = nh_.advertise<myrabot_arm_base_b::WriteServos>("/move_arm", 1, this);

    as_.start();
  }

  ~MYRAbotArm(void)
  {
  }

  void goalCB()
  {
	i_ = 0;

	goal_ = as_.acceptNewGoal()->trajectory;
  }

  void preemptCB()
  {
    ROS_INFO("%s: Preempted", action_name_.c_str());
    as_.setPreempted();
  }

  void analysisCB(const myrabot_arm_base_b::ReadServos& arm)
  {
    if (!as_.isActive())
      return;

    ros::Time ahora = ros::Time::now();

    feedback_.header.stamp = ahora;

    feedback_.joint_names.resize(4);
    feedback_.actual.positions.resize(4);
    feedback_.actual.effort.resize(4);

	for (int i = 0; i < 4; i++)
	{
		switch(i)
		{
			case 3:
				feedback_.joint_names[i] = "base_brazo";
				feedback_.actual.positions[i] = ((((arm.posicion.base * 300)/1023)*PI)/180)-2.62;
				feedback_.actual.effort[i] = ((((arm.corriente.base * 300)/1023)*PI)/180)-2.62;
			break;
			case 0:
				feedback_.joint_names[i] = "arti1";
				feedback_.actual.positions[i] = ((((arm.posicion.arti1 * 300)/1023)*PI)/180)-2.62;
				feedback_.actual.effort[i] = ((((arm.corriente.arti1 * 300)/1023)*PI)/180)-2.62;
			break;
			case 1:
				feedback_.joint_names[i] = "arti2";
				feedback_.actual.positions[i] = ((((arm.posicion.arti2 * 300)/1023)*PI)/180)-2.62;
				feedback_.actual.effort[i] = ((((arm.corriente.arti2 * 300)/1023)*PI)/180)-2.62;
			break;
			case 2:
				feedback_.joint_names[i] = "arti3";
				feedback_.actual.positions[i] = ((((arm.posicion.arti3 * 300)/1023)*PI)/180)-2.62;
				feedback_.actual.effort[i] = ((((arm.corriente.arti3 * 300)/1023)*PI)/180)-2.62;
			break;
		}
	}

	puntos_ = goal_.points.size();

	if (i_ != puntos_)
	{

	    	myrabot_arm_base_b::WriteServos move;

	    		if (i_ == 0
	    		    ||((feedback_.actual.positions[0] <= (goal_.points[i_-1].positions[0] + 0.1) && feedback_.actual.positions[0] >= (goal_.points[i_-1].positions[0] - 0.1))
	    		    && (feedback_.actual.positions[1] <= (goal_.points[i_-1].positions[1] + 0.1) && feedback_.actual.positions[1] >= (goal_.points[i_-1].positions[1] - 0.1))
	    		    && (feedback_.actual.positions[2] <= (goal_.points[i_-1].positions[2] + 0.1) && feedback_.actual.positions[2] >= (goal_.points[i_-1].positions[2] - 0.1))
	    		    && (feedback_.actual.positions[3] <= (goal_.points[i_-1].positions[3] + 0.1) && feedback_.actual.positions[3] >= (goal_.points[i_-1].positions[3] - 0.1))))
	    		{
	    			for (int j = 0; j < 4; j++)
	    			{
	    				switch (j)
	    				{
	    				case 3:
	    					move.posicion.base = ((((goal_.points[i_].positions[j]+2.62)*180)/PI)*1023)/300;
	    					move.velocidad.base = abs(goal_.points[i_].velocities[j]*511);
	    					move.par.base = 1;
	    				break;
	    				case 0:
	    					move.posicion.arti1 = ((((goal_.points[i_].positions[j]+2.62)*180)/PI)*1023)/300;
	    					move.velocidad.arti1 = abs(goal_.points[i_].velocities[j]*511);
	    					move.par.arti1 = 1;
	    				break;
	    				case 1:
	    					move.posicion.arti2 = ((((goal_.points[i_].positions[j]+2.62)*180)/PI)*1023)/300;
	    					move.velocidad.arti2 = abs(goal_.points[i_].velocities[j]*511);
	    					move.par.arti2 = 1;
	    				break;
	    				case 2:
	    					move.posicion.arti3 = ((((goal_.points[i_].positions[j]+2.62)*180)/PI)*1023)/300;
	    				        move.velocidad.arti3 = abs(goal_.points[i_].velocities[j]*511);
	    					move.par.arti3 = 1;
	    				break;
	    				}
	    			}

	    			pub_move_arm_.publish(move);

	    			t_inicio = ros::Time::now();
	    		}
	    		else
	    		{
	    			i_ = i_ - 1;
	    		}

	    		ros::Time ahora = ros::Time::now();

	    		ros::Duration duracion(1.0);

	    		if (ahora > (t_inicio + duracion))
	    		{
	    			result_.error_code = -1;
	    	                as_.setAborted(result_);
	    		}

			feedback_.desired = goal_.points[i_];

			feedback_.error.positions.resize(4);

			for (int j = 0; j < 4; j++)
			{
				feedback_.error.positions[j] = feedback_.desired.positions[j] - feedback_.actual.positions[j];
			}

    		i_ ++;
  	}
	else
	{
		result_.error_code = 0;
	        as_.setSucceeded(result_);
	}
	as_.publishFeedback(feedback_);

  }

protected:

  ros::NodeHandle nh_;
  actionlib::SimpleActionServer<control_msgs::FollowJointTrajectoryAction> as_;
  std::string action_name_;
  int puntos_, i_;
  ros::Time t_inicio;
  trajectory_msgs::JointTrajectory goal_;
  control_msgs::FollowJointTrajectoryResult result_;
  control_msgs::FollowJointTrajectoryFeedback feedback_;
  ros::Subscriber sub_pose_arm_;
  ros::Publisher pub_move_arm_;
};

int main(int argc, char** argv)
{
  ros::init(argc, argv, "brazo_controller/follow_join_trajectory");

  MYRAbotArm brazo(ros::this_node::getName());
  ros::spin();

  return 0;
}

We have to add the next code line in the file "CMakeLists.txt" of the package in order to compile and generate the executable: 

rosbuild_add_executable(controlador_brazo src/controlador_brazo.cpp)

Also, we need to add the next dependences for the package in the file "manifest.xml": 

actionlib
actionlib_msgs
trajectory_msgs
control_msgs

We will execute the next commands in a terminal in order to compile and generate the executable: 

roscd brazo_fer
make

New URDF for xtion camera and frame

We have added a frame to MYRAbot in order to place the new asus Xtion PRO LIVE camera which replaces the previous 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: 

...

<joint name="soporte_3" type="fixed">
  <parent link="e_soporte_1_link"/>
  <child link="e_soporte_3_link"/>
  <origin xyz="0 0.065 0.61" rpy="0.12 0 0" />
</joint>
  
<link name="e_soporte_3_link">
    <inertial>
      <mass value="0.01"/>
      <origin rpy="0 0 0" xyz="0.0 -0.065 ${0.06/2}"/>
      <default_inertia_e />
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="-0.135 -0.2 -0.03"/>
      <geometry>
        <mesh filename="package://myrabot_fer_modelo/meshes/e_soporte_3.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="wood" />
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="-0.135 -0.2 -0.03"/>
      <geometry>
        <mesh filename="package://myrabot_fer_modelo/meshes/e_soporte_3.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link> 

...

<gazebo_propiedades nombre="e_soporte_3_link" material="myrabot_fer/LightWood" />

...

We will create a file named "xtion.xacro" within the folder "urdf" of the package "myrabot_fer_modelo" with the content that is shown below in order to create the model of the 3D sensor: 

<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
  
  <!-- Xacro properties -->
  <xacro:property name="M_SCALE" value="0.001"/>
  <xacro:property name="asus_xtion_pro_depth_rel_rgb_py" value="0.0270" />
  <xacro:property name="asus_xtion_pro_cam_rel_rgb_py"   value="-0.0220" />
  
  <property name="M_PI" value="3.14159"/>

  <!-- Parameterised in part by the values in turtlebot_properties.urdf.xacro -->
  <xacro:macro name="xtion" params="parent *origin">
	  
    <joint name="camera_rgb_joint_xtion" type="fixed">
	  <insert_block name="origin" />
      <parent link="${parent}"/>
      <child link="camera_rgb_frame_xtion" />
    </joint>

    <link name="camera_rgb_frame_xtion">
      <inertial>
        <mass value="0.001" />
        <origin xyz="0 0 0" />
        <inertia ixx="0.0001" ixy="0.0" ixz="0.0"
          iyy="0.0001" iyz="0.0"
          izz="0.0001" />
      </inertial>
    </link>

    <joint name="camera_rgb_optical_joint_xtion" type="fixed">
      <origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
      <parent link="camera_rgb_frame_xtion" />
      <child link="camera_rgb_optical_frame_xtion" />
    </joint>

    <link name="camera_rgb_optical_frame_xtion">
      <inertial>
        <mass value="0.001" />
        <origin xyz="0 0 0" />
        <inertia ixx="0.0001" ixy="0.0" ixz="0.0"
          iyy="0.0001" iyz="0.0"
          izz="0.0001" />
      </inertial>
    </link>

    <joint name="camera_joint_xtion" type="fixed">
      <origin xyz="0.0175 ${asus_xtion_pro_cam_rel_rgb_py} 0.021"
              rpy="0 0 0"/>
      <parent link="camera_rgb_frame_xtion"/>
      <child link="camera_link_xtion"/>
    </joint>
    <link name="camera_link_xtion">
      <visual>
        <origin xyz="-0.01 0 0" rpy="${-M_PI/2} -${M_PI} ${-M_PI/2}"/>
        <geometry>
          <mesh filename="package://myrabot_fer_modelo/meshes/asus_xtion_pro_live.dae" scale="${M_SCALE} ${M_SCALE} ${M_SCALE}"/>
        </geometry>
      </visual>
      <collision>
        <origin xyz="-0.01 0 0" rpy="${-M_PI/2} -${M_PI} ${-M_PI/2}"/>
        <geometry>
          <mesh filename="package://myrabot_fer_modelo/meshes/asus_xtion_pro_live.dae" scale="${M_SCALE} ${M_SCALE} ${M_SCALE}"/>
        </geometry>
      </collision>
      <inertial>
        <mass value="0.01" />
        <origin xyz="0 0 0" />
        <inertia ixx="0.001" ixy="0.0" ixz="0.0"
          iyy="0.001" iyz="0.0"
          izz="0.001" />
      </inertial>
    </link>

    <joint name="camera_depth_joint_xtion" type="fixed">
      <origin xyz="0.0175 ${asus_xtion_pro_depth_rel_rgb_py} 0.021" rpy="0 0 0" />
      <parent link="camera_rgb_frame_xtion" />
      <child link="camera_depth_frame_xtion" />
    </joint>

    <link name="camera_depth_frame_xtion">
      <inertial>
        <mass value="0.01" />
        <origin xyz="0 0 0" />
        <inertia ixx="0.001" ixy="0.0" ixz="0.0"
          iyy="0.001" iyz="0.0"
          izz="0.001" />
      </inertial>
    </link>

    <joint name="camera_depth_optical_joint_xtion" type="fixed">
      <origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
      <parent link="camera_depth_frame_xtion" />
      <child link="camera_depth_optical_frame_xtion" />
    </joint>

    <link name="camera_depth_optical_frame_xtion">
      <inertial>
        <mass value="0.001" />
        <origin xyz="0 0 0" />
        <inertia ixx="0.0001" ixy="0.0" ixz="0.0"
          iyy="0.0001" iyz="0.0"
          izz="0.0001" />
      </inertial>
    </link>

    <gazebo reference="camera_link_xtion">  
      <sensor type="depth" name="xtion">
        <always_on>true</always_on>
        <update_rate>20.0</update_rate>
        <camera>
          <horizontal_fov>${60.0*M_PI/180.0}</horizontal_fov>
          <image>
            <format>R8G8B8</format>
            <width>640</width>
            <height>480</height>
          </image>
          <clip>
            <near>0.05</near>
            <far>8.0</far>
          </clip>
        </camera>
        <plugin name="xtion_camera_controller" filename="libgazebo_ros_openni_kinect.so">
          <cameraName>xtion</cameraName>
          <alwaysOn>true</alwaysOn>
          <updateRate>10</updateRate>
          <imageTopicName>rgb/image_raw</imageTopicName>
          <depthImageTopicName>depth/image_raw</depthImageTopicName>
          <pointCloudTopicName>depth/points</pointCloudTopicName>
          <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
          <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
          <frameName>camera_depth_optical_frame_xtion</frameName>
          <baseline>0.1</baseline>
          <distortion_k1>0.0</distortion_k1>
          <distortion_k2>0.0</distortion_k2>
          <distortion_k3>0.0</distortion_k3>
          <distortion_t1>0.0</distortion_t1>
          <distortion_t2>0.0</distortion_t2>
          <pointCloudCutoff>0.4</pointCloudCutoff>
        </plugin>
      </sensor>
    </gazebo>
    
  </xacro:macro>
</robot>

We will add the next files within the folder "meshes" of the package "myrabot_fer_modelo":

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 the new arm model: 

<?xml version="1.0"?>

<robot name="MYRAbot"
       xmlns:xi="http://www.w3.org/2001/XInclude"
       xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz"
       xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model"
       xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
       xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
       xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"
       xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"
       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
       xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering"
       xmlns:renderable="http://playerstage.sourceforge.net/gazebo/xmlschema/#renderable"
       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
       xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics"
       xmlns:xacro="http://ros.org/wiki/xacro">
	
	<xacro:include filename="$(find myrabot_fer_modelo)/urdf/roomba.xacro" />		
	
	<xacro:include filename="$(find myrabot_fer_modelo)/urdf/estructura-myrabot.xacro" />
	
	<xacro:include filename="$(find myrabot_fer_modelo)/urdf/kinect.xacro" />	
	
	<xacro:include filename="$(find brazo_fer_modelo)/urdf/brazo_moveit.xacro" />	

	<xacro:include filename="$(find myrabot_fer_modelo)/urdf/xtion.xacro" />
	
	<xacro:include filename="$(find myrabot_fer_modelo)/urdf/ultrasonidos.xacro" />		
	
	<roomba />
	
	<estructura_myrabot parent="base_link">
		<origin rpy="0 0 1.57" xyz="0 0 0.063"/>	
	</estructura_myrabot> 
	
	<kinect parent="e_base_kinect_link">
		<origin rpy="0 0 -1.57" xyz="0 -0.045 0.112"/>
	</kinect>
	
	<brazo parent="e_base_brazo_1_link">
		<origin rpy="0 0 1.57" xyz="0 -0.1015 0.075"/>
	</brazo>
	
	<xtion parent="e_soporte_3_link">
		<origin rpy="0 0.65 -1.57" xyz="0.021 -0.03 0.175"/>	
	</xtion>
	
	<ultrasonidos id="1" parent="e_base_2_link" d_centro="0.150">
		<origin rpy="0 0 1.57" xyz="0 0 ${0.04-0.007}"/>	
	</ultrasonidos>	
	
	<ultrasonidos id="2" parent="e_base_2_link" d_centro="0.150">
		<origin rpy="0 0 2.36" xyz="0 0 ${0.04-0.007}"/>	
	</ultrasonidos>	

	<ultrasonidos id="3" parent="e_base_2_link" d_centro="0.150">
		<origin rpy="0 0 3.14" xyz="0 0 ${0.04-0.007}"/>	
	</ultrasonidos>	
	
	<ultrasonidos id="4" parent="e_base_2_link" d_centro="0.150">
		<origin rpy="0 0 3.93" xyz="0 0 ${0.04-0.007}"/>
	</ultrasonidos>
	
	<ultrasonidos id="5" parent="e_base_2_link" d_centro="0.150">
		<origin rpy="0 0 4.71" xyz="0 0 ${0.04-0.007}"/>
	</ultrasonidos>							

</robot>

We will create a file named "myrabot_gazebo_moveit.launcher" within the folder "launch" of the package "myrabot_fer_modelo" with the content that is shown below in order to load in gazebo the new robot model adapted to moveIt!: 

<launch>
  
  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="paused" value="true"/>
    <arg name="use_sim_time" value="true"/>
    <arg name="debug" value="false"/>
    <arg name="world_name" value="$(find turtlebot_gazebo)/worlds/empty.world"/>
  </include>  

  <param name="robot_description" command="$(find xacro)/xacro.py '$(find myrabot_fer_modelo)/urdf/myrabot_moveit.urdf.xacro'" />

  <node name="spawn_myrabot" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model MYRAbot" respawn="false" output="screen" /> 
 
  
  <rosparam file="$(find brazo_fer_modelo)/config/controller_moveit.yaml" command="load"/>

  <node name="controller_spawner" pkg="controller_manager" type="spawner" args="pinza_pos_controller brazo_controller joint_state_controller" respawn="false" output="screen" />

 
  <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" /> 
  

  <node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf">
    <param name="freq" value="30.0"/>
    <param name="sensor_timeout" value="1.0"/>
    <param name="publish_tf" value="true"/>
    <param name="odom_used" value="true"/>
    <param name="imu_used" value="false"/>
    <param name="vo_used" value="false"/>
    <param name="output_frame" value="odom"/>
  </node>

  <node pkg="nodelet" type="nodelet" name="pointcloud_throttle" args="load pointcloud_to_laserscan/CloudThrottle openni_manager" respawn="true">
    <param name="max_rate" value="20.0"/>
    <remap from="cloud_in" to="/camera/depth/points"/>
    <remap from="cloud_out" to="cloud_throttled"/>
  </node>

  <node pkg="nodelet" type="nodelet" name="kinect_laser" args="load pointcloud_to_laserscan/CloudToScan openni_manager" respawn="true">
    <param name="output_frame_id" value="/camera_depth_frame"/>
    <!-- heights are in the (optical?) frame of the kinect -->
    <param name="min_height" value="-0.15"/>
    <param name="max_height" value="0.15"/>
    <remap from="cloud" to="/cloud_throttled"/>
  </node>

  <node pkg="nodelet" type="nodelet" name="kinect_laser_narrow" args="load pointcloud_to_laserscan/CloudToScan openni_manager" respawn="true">
    <param name="output_frame_id" value="/camera_depth_frame"/>
    <!-- heights are in the (optical?) frame of the kinect -->
    <param name="min_height" value="-0.025"/>
    <param name="max_height" value="0.025"/>
    <remap from="cloud" to="/cloud_throttled"/>
    <remap from="scan" to="/narrow_scan"/>
  </node>   
  
</launch>

Configuration of MYRAbot in moveIt!

Setup assistant

We will execute the next command in a terminal in order to start the setup assistant of moveIt!: 

roslaunch moveit_setup_assistant setup_assistant.launch

We can choose between "Create New MoveIt Configuration Package" or "Edit existing MoveIt Configuration Package" in the assistant window that is shown below:

MoveIt! setup asistant start window
Click on "Create New MoveIt Configuration Package" >

Select the URDF file of the MYRAbot model clicking on "Browse" >
Creation of New moveIt! Configuration Package window

We will click on "Load Files" in order to load our robot model in the moveIt! setup assistant. When the load process ends, we can see in the right side of the window the robot model. This is shown in the next picture:

MoveIt! setup assistant load model window

Now, we will select "Self-Collision" in the menu of the left side of the window and we will click on "Regenerate Default Collision Mtrix" in order to calculate the collision matrix of our model. The result is shown in the next picture:

MoveIt! setup assistant Self-Collision window

We will select "Virtual Joints" in the menu of the left side of the window and we will click on "Add Virtual Joint". We will write virtual_joint in the field "Virtual Joint Name", we will select the link base_footprint in the field "Child_Link", we will write odom in the field "Parent Frame Name" and we will write planar in the field. The procedure is shown in the next pictures:

MoveIt! setup assistant "Add Virtual Joint" window
Click on "Save" to add the "Virtual Joint">
MoveIt! setup assistant "Virtual Joints" window

We will select "Planning Groups" in the menu of the left side of the window and we will click on "Add Group". We will write brazo in the field "Group Name", we will select kdl_kinematics_plugin/KDLKinematicsPlugin in the field "Kinematic Solver" and we will leave the rest of fields with the default value. The procedure is shown in the next pictures:

MoveIt! setup assistant "Add Group" window
Click on "Add Joints" to add the group joints>

Select from the list the joints of the arm (base, arti1, arti2, arti3)>
MoveIt! setup assistant "Add Joints" to "Group" window
Click on "Save" to add "Joints" and "Group">
MoveIt! setup assistant "Planning Group" window

As well we must add the gripper group clicking on "Add Group". We will write pinza in the field "Group Name", we will select None in the field "Kinematic Solver" and we will leave the rest of fields with the default value. The procedure is shown in the next pictures:

MoveIt! setup assistant "Add Group" window
Click on "Add Links" to add the group links>

Select from the list the links of the gripper>
MoveIt! setup assistant "Add Links" to "Group" window
Click on "Save" to add "Links" and "Group">
MoveIt! setup assistant "Planning Group" window

We can store regular poses for the arm group in order to set this poses in the future. We will select "Robot Poses" in the menu of the left side of the window and we will click on "Add Pose". We will write home in the field "Pose Name" and we will select brazo in the field "Planning Group". We can modify the position of each joint using the slider. The procedure is shown in the next pictures:

MoveIt! setup assistant "Add Pose" window
Click on "Save" to add the "Robot Pose">
MoveIt! setup assistant "Robot Pose" window

We will select "End Effectors" in the menu of the left side of the window and we will click on "Add End Effector". We will write pinza_eef in the field "End Effector Name", we will select 'pinza in the field "End Effector Group", we will select arti3_link in the field "Parent Link" and we will leave blank the field "Parent Group". The procedure is shown in the next pictures:

MoveIt! setup assistant "Add End Effector" window
Click on "Save" to add the "End Effector">
MoveIt! setup assistant "End Effectors" window

To finish, we will select "Configuration Files" in the menu of the left side of the window and we will click on "Browse" in order to select the path and the name for the configuration package. We will click on "Generate Package" to generate the package. The result is shown in the next picture:

MoveIt! setup assistant final window

Integration of arm's controllers

We will create a file named "controllers.yaml" within the folder "config" of the generated moveIt! package with the content that is show below: 

controller_list:
 - name: brazo_controller
   action_ns: follow_joint_trajectory
   type: FollowJointTrajectory
   default: true
   joints:
     - arti1
     - arti2
     - arti3
     - base

We have to add the nest code lines in the file "MYRAbot_moveit_controller_manager.launch.xml" placed in the folder "launch" of the generated moveIt! package: 

<launch>

 <!-- Set the param that trajectory_execution_manager needs to find the controller plugin -->
 <arg name="moveit_controller_manager" default="moveit_simple_controller_manager/MoveItSimpleControllerManager" />
 <param name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>
 
 <!-- load controller_list -->
 <rosparam file="$(find myrabot_moveit_generated)/config/controllers.yaml"/>

</launch>

Integration of perception sensors

We can use the asus xtion pro live or the 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 moveIt! package with the content that is shown below: 

sensors:
  - sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater
    point_cloud_topic: /xtion/depth/points
    max_range: 5.0
    point_subsample: 1
    padding_offset: 0.1
    padding_scale: 1.0
    filtered_cloud_topic: filtered_cloud

We have to add the nest code lines in the file "MYRAbot_moveit_sensor_manager.launch.xml" placed in the folder "launch" of the generated moveIt! package: 

<launch>

 <rosparam command="load" file="$(find myrabot_moveit_generated)/config/xtion.yaml" />
 <param name="octomap_frame" type="string" value="odom" />
 <param name="octomap_resolution" type="double" value="0.05" />
 <param name="max_range" type="double" value="5.0" />

</launch>

We have to add the value 'move_group/MoveGroupGetPlanningSceneService in the parameter "papabilities" in the file "move_group.launch" placed in the folder "launch" of the generated moveIt! package, like is shown below: 

...

    <!-- MoveGroup capabilities to load -->
    <param name="capabilities" value="move_group/MoveGroupCartesianPathService
				      move_group/MoveGroupExecuteService
				      move_group/MoveGroupKinematicsService
				      move_group/MoveGroupMoveAction
				      move_group/MoveGroupPickPlaceAction
				      move_group/MoveGroupPlanService
				      move_group/MoveGroupQueryPlannersService
				      move_group/MoveGroupStateValidationService
				      move_group/MoveGroupGetPlanningSceneService
				      " />

...

Modification of the .srdf file generated

We have to edit the generated file "MYRAbot.srdf" placed in the folder "config" of the generated 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: 

    <group_state name="home" group="brazo">
        <joint name="arti1" value="1,3836" />
        <joint name="arti2" value="-2,2458" />
        <joint name="arti3" value="-0,7065" />
        <joint name="base" value="0" />
    </group_state>

by

    <group_state name="home" group="brazo">
        <joint name="arti1" value="1.3836" />
        <joint name="arti2" value="-2.2458" />
        <joint name="arti3" value="-0.7065" />
        <joint name="base" value="0" />
    </group_state>

Execution

Simple planning

We will execute the next command in a terminal in order to test that the MYRAbot works properly in moveIt!: 

roslaunch myrabot_moveit_generated demo.launch

When the load process finish we can see the MYRAbot model in rviz with the Motion Planning Interface of moveIt!, like is shown in the next picture:

MYRAbot in rviz with plugin of moveIt!

If the interact mode is selected we can see a interactive markers around the gripper. We will use the interactive markers to interact with the representation of the start state and the goal state. If we open Planning Request within of MotionPlanning we can show or hide the representation of Query Start State (arm's joints green-coloured) and Query Goal State (arm's joints orange-coloured). When a part of the arm collides with other part of the robot or other object, its colour change to red.

We can see in the next video a simple planning, without obstacles, that moves the arm from a start pose (stored pose home) until a goal pose (using the interactive marker):

<videoflash>doy6VRjzYZc</videoflash>
Watch in YouTube

Planning with modelled scene

We will execute the next command in a terminal in order to start rviz with the robot model and the "MotionPlanning" of moveIt!: 

roslaunch myrabot_moveit_generated demo.launch

We have created a scene with basic geometry figures that represent a table and a can. We have not used 3D meshes because they may swap randomly. We will create a file named "mesa_lata.scene" within our personal folder with the content that is shown below: 

Mesa_Lata
* mesa_pata_izquierda_delantera
1
cylinder
0.015 0.71
0.20 0.97 0.355
0 0 0 1
0 0 0 1
* mesa_pata_derecha_delantera
1
cylinder
0.015 0.71
0.20 -0.97 0.355
0 0 0 1
0 0 0 1
* mesa_pata_derecha_trasera
1
cylinder
0.015 0.71
0.89 -0.97 0.355
0 0 0 1
0 0 0 1
* mesa_pata_izquierda_trasera
1
cylinder
0.015 0.71
0.89 0.97 0.355
0 0 0 1
0 0 0 1
* mesa_tablero
1
box
0.75 2 0.03
0.545 0 0.725
0 0 0 1
0.71372549 0.494117647 0.301960784 1
* lata
1
cylinder
0.03 0.12
0.28 0 0.8
0 0 0 1
1 0 0 1
.

We will load the scene clicking on Import From Text in the menu Scene Objects of MotionPlanning. We can see in the next video the load process and planning to avoid the can that is represents by a red cylinder over the table:

<videoflash>oWe_jj4keXU</videoflash>
Watch in YouTube

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 the objects' models (table and cans): 

<launch>
  
  <include file="$(find myrabot_fer_modelo)/launch/myrabot_gazebo_moveit.launch" />

  <!-- Load models table and cans -->
  <node name="spawn_mesa" pkg="gazebo_ros" type="spawn_model" args="-file $(find myrabot_objects_models_b)/urdf/mesa.urdf -urdf -x 0.545 -y 0 -z 0 -Y -1.57 -model mesa" respawn="false" output="screen" />    
  
  <!--node name="spawn_lata_coca_cola" pkg="gazebo_ros" type="spawn_model" args="-file $(find myrabot_objects_models_b)/urdf/lata_coca_cola.urdf -urdf -x 0.32 -y -0.18 -z 0.74 -Y -1.57 -model lata_Coca_Cola" respawn="false" output="screen" /-->  

  <node name="spawn_lata_amstel" pkg="gazebo_ros" type="spawn_model" args="-file $(find myrabot_objects_models_b)/urdf/lata_amstel.urdf -urdf -x 0.32 -y 0.0 -z 0.74 -Y -1.57 -model lata_Amstel" respawn="false" output="screen" /> 

</launch>

We will create a file named "moveit_planning_execution.launch" within the folder "launch" of the created moveIt! package with the content that is shown below: 

<launch>
 # The planning and execution components of MoveIt! configured to 
 # publish the current configuration of the robot (simulated or real)
 # and the current state of the world as seen by the planner
 <include file="$(find myrabot_moveit_generated)/launch/move_group.launch">
  <arg name="publish_monitored_planning_scene" value="true" />
 </include>
 # The visualization component of MoveIt!
 <include file="$(find myrabot_moveit_generated)/launch/moveit_rviz.launch"/>
</launch>

We will execute the next command in a terminal in order to start gazebo with the robot model and objects' models: 

roslaunch myrabot_fer_modelo myrabot_gazebo_moveit_mesa+latas.launch

We will execute the next command in a new terminal in order to start rviz with the "Motion Planning Interface" of moveIt!: 

roslaunch myrabot_moveit_generated moveit_planning_execution.launch

The represented scene in rviz corresponds with the scene captured by the perception sensor, the boxes represent the occupied space. We can see in the next video the planning to avoid the can and the replanning because the first calculated trajectory collides with the can:

<videoflash>xf1Jz1L-Xyc</videoflash>
Watch in YouTube

Simple planning with real robot

We need load the robot model and start the arm controller for 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: 

<launch>

  <param name="robot_description" command="$(find xacro)/xacro.py '$(find myrabot_fer_modelo)/urdf/myrabot_moveit.urdf.xacro'" />
  
  <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher"></node>  

  <node name="serial_node" pkg="rosserial_python" type="serial_node.py" args="/dev/ttyACM0" />

  <node name="joint_states_brazo" pkg="brazo_fer" type="joint_states_brazo" /> 
  
  <group ns="brazo_controller">

    <node name="follow_joint_trajectory" pkg="brazo_fer" type="controlador_moveit" output="screen" />
  
  </group>

</launch>

We will execute the next command in a terminal in order to start the arm control: 

roslaunch brazo_fer controlador_moveit.launch

In a new terminal we will execute the next command in order to start rviz with the "Motion Planning Interface" of moveIt! 

roslaunch myrabot_moveit_generated moveit_planning_execution.launch

We can see in the next video the real arm executing the planned trajectories in order to reach the positions that we have indicated on robot model using interactive markers:

<videoflash>Kz7bKL4ZP98</videoflash>
Watch in YouTube


Related articles
Other articles

MYRAbot's arm control (bioloid+arduino)
Objects recognition and position calculation (webcam)
MYRAbot's arm model for simulation (urdf+gazebo)
MYRAbot model for simulation (urdf+gazebo)
Voice control (sphinx+festival)
MYRAbot's Teleoperation with xbox360 wireless controller (xbox360 controller+joy)

CeRVaNTeS' arm and base control (maxon+epos2)
CeRVaNTeS' arm model for simulation (urdf+gazebo)
Integration of CeRVaNTeS in moveIt! (gazebo+moveIt!)
CeRVaNTeS' Teleoperation with xbox360 wireless controller (xbox360 controller+joy)


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