/ril_mm

Mobile Manipulator Tutorial (UR&Husky&Robotiq)

Primary LanguageCMakeMIT LicenseMIT

Robot Intelligence Lab-Mobile Manipulator (RIL_MM)

Overview

This mobile manipulator(UR5 with Robotiq Gripper85 and Husky) tutorial will show you how to operate a mobile manipulator using Gazebo, RViz and MoveIt

Before start this tutorial, please check your ROS version, this package is for ROS Melodic & Noetic Ver.

Guide

  • For RIL_MM [UR5+Robotiq Gripper85+Husky Model]
$ cd ~/catkin_ws/src && git clone https://github.com/ros-industrial/universal_robot.git
$ cd ~/catkin_ws/src && git clone https://github.com/park-sangbeom/robotiq_85_gripper.git
$ cd ~/catkin_ws/src && git clone https://github.com/husky/husky.git
$ cd ~/catkin_ws/src && git clone https://github.com/park-sangbeom/ril_mm.git
$ cd ~/catkin_ws && catkin_make
$ rosdep update
$ cd ~/catkin_ws && rosdep install --from-paths src --ignore-src -r -y

Sample codes for beginners

  • Spawning RIL_MM in Gazebo and Rviz
$ roslaunch ril_mm_gazebo ril_mm_empty_world.launch
  • Moving RIL_MM to the goal point
$ cd ~/catkin_ws/src/ril_mm_python   
$ chmod +x husky_point.py
$ rosrun ril_mm_python husky_point.py
  • Contorlloing the mobile manipuatlor's arm and gripper
$ cd ~/catkin_ws/src/ril_mm_python
$ chmod +x joint_test1.py
$ rosrun ril_mm_python joint_test1.py

More Info

Description

Screenshot