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.