ros_final_project

This is the personal final project of ROS course in SUSTech 2023 Autumn.

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Workspace Configue

System: Ubuntu 20.04
ROS version: ros-noetic
Python: 3.9

1. Create your workspace

$ cd ~/[your_path]
$ mkdir -p ~/[your_workspace_name]/src

2. Clone this reprosity You can put this reprosity in workspace/src path

$ cd ~/[workspace]/src
$ git clone https://github.com/Ye-2077/ros_final_project.git

3. Download plugin GripperGraspFix

GripperGraspFix is a gazebo plugin to make grasping process works.
The wike of this plugin: https://github.com/JenniferBuehler/gazebo-pkgs/wiki/The-Gazebo-grasp-fix-plugin

$ cd ~/[workspace]/src
$ git clone https://github.com/JenniferBuehler/general-message-pkgs.git
$ git clone https://github.com/JenniferBuehler/gazebo-pkgs.git

4. Build workspace

Advice to use catkin build instead of catkin_make

$ cd ~/[workspace]  
$ catkin build

5. Chmod the python file

The main code written in python, you can directly run these with python path_to_file/filename.py.
If you want to run these files more conviently with rosrun, please run fellow command

$ chmod 777 path_to_file/filename.py

Quik Start

1. arm grasp

Launch simulator form arm_gazebo.launch
Start the service from arm_mover.py
Start arm from arm_control.py
Start image process from image_process.py

$ cd ~/[workspace]
$ source dev/setup.bash

$ roslaunch ros_arm arm_gazebo.launch
$ rosrun ros_arm arm_mover.py
$ rosrun ros_arm arm_control.py
$ rosrun ros_arm image_process.py

How To Use Arm

1. Joint control & Mover

this part is to test if the joint controller works correctly, and use test_mover.py let the arm moves looply

Terminal_1: $ roslaunch ros_arm arm_rviz.launch if there is error in camera, after next step then click the "reset" button in the rviz
Terminal_2: $ roslaunch ros_arm arm_gazebo.launch
Terminal_3: you can pub control command like this $ rostopic pub /arm/joint3_position_controller/command std_msgs/Float64 "data: 1.57"
Terminal_4: kill Terminal_3, the run test_mover.py: $ python ros_arm/src/test_mover.py

2. Camera Test

this part is to test the Camera

Terminal_1: $ roslaunch ros_arm arm_gazebo.launch
Terminal_2: $ rqt_image_view /rgb_camera/image_raw
Terminal_3: $ python [path to ros_arm]/src/test_camera_mover.py

3. Joint Control Service

this part is to test the arm_mover.py and the joint control service

Terminal_1: $ roslaunch ros_arm arm_gazebo.launch
Terminal_2: $ rosservice call /arm_mover/arm_mover "{joint1: 0.0, joint2: 0.0, joint3: -1.0, joint4: 1.0, joint5: 0.0, joint6: 0.0, finger_joint1: 0.0, finger_joint2: 0.0}"

4. Image Process Test

this part is to test image_process.py, used to identify the box with CV

Terminal_1: $ roslaunch ros_arm arm_gazebo.launch
Terminal_2: $ rosrun ros_arm initial_mover.py # remeber to sudo chmod 777 this file
Terminal_3: $ rosrun ros_arm image_process.py
Terminal_4: $ rqt_image_view /rgb_camera/image_processed

you can also open another terminal and run rqt_image_view /rgb_camera/image_raw
you can compare these two graphs and find the differences

remember to offer by sudo chmod 777