Intro
Some pkgs, depth_sensor + iiwa_stack + moveit + wsg50_ros_pkgs in gazebo and rviz which are used in my thesis.
File structure is still messy. If you have any question please contact me.
p.s. The top level launch file is in thesis repository, call thesis.launch
Folders wsg50, iiwa_stack, and depth sensor are modified from other open source packages. Need to do some investigation about licenses. If I violate the license please inform me.
What have I modified
- depth_sensor
- change model from kinectv1 to kinectv2, the frame pose need to be further checked
- iiwa_stack
- toplevel launch file in
thesis
repository is modified from iiwa_gazebo.launch
- toplevel launch file in
- wsg50_ros_pkgs
- wsg_50_drive didn't work for me, probably I changed urdf file before.
- I use tcp/ip connection to send command(GCL) directly to gripper. See python code
thesis_moveit_config/wsg_gcl_socket.py
Env
The enviroment setup files are in my repository bringups
Configuration
catkin_ws dir: By default catkin_ws
is directly under HOME
directroy.
model dir: By default exchange
, where 3D models are stored, is also directly under HOME
directroy.
Only the path in thesis/urdf/genLf064Urdf.bash
need to be manually modified with following command:
sed -i s|\/home\/ubuntu|${HOME}|g genLf064Urdf.bash
There are two environments used for this repository:
Launch Simulation
roslaunch thesis thesis.launch
Env_name: pkgs gazebo: gazebo, iiwa_stack , depth_sensor(kinect2) moveit: rviz, iiwa_stack,
Notes
General
- Movegroup cannot get joint_states
- launchfile solution: using remap flag, if your joint states topic is i.e. /iiwa/joint_states, instead /joint_states
- rosrun solution:
rosrun pkgname exacutable joint_states:=/iiwa/joint_states
Simulation
Real connection
-
No topic
/iiwa/joint_states
is not published from ROSMonintor at Sunriseside- solution1: launch the iiwa_hw
- solution2: set ROS param
/iiwa/publishJointStates
to true ref: see issue
-
Cannot move arm due to time asynchronization
- solution: run a joint_state_controller to get a dummy current one
- solution: update sunrise's clock might work.
- solution: using ntp or chrony...