The whole ROS workspace for move and adjust robot to grasp objects
moveIt!
turtlebot_arm
astra
for environment setup see
http://robotforall.org/wiki/index.php?title=Vision_System_Setup
http://robotforall.org/wiki/index.php?title=TurtleBot_Arm_setup
bring up the arm:
roslaunch turtlebot_arm_bringup myarm.launch
move the joints with keyboard:
rosrun turtlebot_arm_moveit_demos arm_keyboard_control.py
get arm posees:
rosrun turtlebot_arm_moveit_demos get_arm_posees.py
an example output:
['arm_shoulder_pan_joint', 'arm_shoulder_lift_joint', 'arm_elbow_flex_joint', 'arm_wrist_flex_joint']
[INFO] [1563869335.417028]: Joint values:
[-0.06135923151542565, 0.35792885050664963, 0.6033657765683522, 0.5471198143458788, 0.0]
[INFO] [1563869335.468412]: End effector pose:
header:
seq: 0
stamp:
secs: 1563869335
nsecs: 465894937
frame_id: "/base_footprint"
pose:
position:
x: 0.348105493
y: 0.000539585021142
z: 0.842247851812
orientation:
x: -0.000946584552211
y: -0.0307807765032
z: -0.0306601945781
w: 0.999055353944
Add the joint values here in moveit_fk_demos.py:
# Set target joint values for the arm: joints are in the order they appear in
# the kinematic tree.
joint_positions = [-0.06136, 0.358, 0.6034, 0.5471, 0.0]moveit! will help plan a smooth way to arrive the expected joint positions
Also set the expected end_effector position x and y here in odom_adjust_for_grasp.py:
# for fk demo
self.required_pos.x = 0.348105493
self.required_pos.y = 0.00053959bringup the TurtleBot, astra and arm:
roslaunch move_and_grasp start_turtle.launch
run the object_detection and odom_adjust and arm node:
roslaunch move_and_grasp start_grasp_attemp.launch
click center of the object you want to grasp in the "find_object_window"
wait for the robot to grasp