playweird/mobile-robotic-manipulation

mobile-robotic-manipulation

A project for CS 491/691 Autonomous Mobile Manipulation class at the University of Nevada, Reno.

Important files

• sample_control/src/sample_control_node.cpp is an example of using move_control service.

Setup

First time setting up only

Setup a workspace with the instructions at Autonomous Mobile Manipulation GitHub repository.

Edit the file autonomous_mobile_manipulation/robowork_moveit_config/launch/trajectory_execution.launch.xml on line 16 from

<param name="trajectory_execution/allowed_start_tolerance" value="0.01"/>

to

<param name="trajectory_execution/allowed_start_tolerance" value="0.00"/>

Clone this repository in ~/your_catkin_ws/src.

Your directory tree should look like this:

src
├── autonomous_mobile_manipulation
│   └── ...
└── mobile-robotic-manipulation
    ├── README.md
    ├── docs
    ├── read_dae
    ├── arm_control
    ├── base_control
    └── move_control

Build packages in this repository

Build the packages in this project repository (replace <your_catkin_ws> with your catkin workspace name) with:

cd ~/<your_catkin_ws>/src/mobile-robotic-manipulation

CMAKE_PREFIX_PATH=~/<your_catkin_ws>/devel:/opt/ros/melodic catkin build motion_planning

Run sample control simulation

Launch the simulation

Source your workspace.

In terminal 1, run:

roslaunch robowork_gazebo bvr_SIM_playpen.launch

Wait until terminal 1 finishes setting up the simulation (after about 10 seconds), in terminal 2, run:

ROS_NAMESPACE="bvr_SIM" roslaunch robowork_moveit_config robowork_moveit_planning_execution.launch robot_namespace:=bvr_SIM arm_namespace:=main_arm_SIM sim_suffix:=_SIM

Wait until terminal 2 finishes setting up Moveit (after about 3 seconds), in terminal 3, run:

ROS_NAMESPACE="bvr_SIM" roslaunch move_control move_control_server.launch

Wait until terminal 3 finishes setting up control services (after about 5 seconds), in terminal 4, run:

ROS_NAMESPACE="bvr_SIM" rosrun motion_planning motion_planning_node

Expected result

The robot moves around the boat and tounch target points along the boat.

mobile-robotic-manipulation's Issues

Failed to fetch current robot state

After running for a while, arm will not be able to get current state. It causes the robot to skip certain MoveIt executions.

Rotate orientation of target points around yaw 90 degress counter clockwise

End base control when already at goal

Sample move-base control

test issue

Put all end effector poses in a single trajectory

Return arm to neutral position at the end of service call

Return status fail when move-base fails to find a plan

Speed up arm control

Make move-base goal id as timestamp to avoid duplicate goals

Generate end-effector target points

Sample moveit arm control