shinian123/simulator-of-bulldog

This package implement the simulation of pick and place of the bulldog robot.

ork with kinect1 and bulldog simulator

Installation

First build your workplace:

        mkdir bulldog_simulator_ws/src && cd bulldog_simulator_ws/src

Then download the pipeline:

        git clone https://github.com/shinian123/simulator-of-bulldog.git

Make:

        cd ..
        catkin_make
        sudo chmod -R 777 *

Quick Guide

Step 1: Load the robot in gazebo:

        roslaunch bulldog_gazebo bulldog_empty_world.launch world_name:=/home/
        cheng/catkin_gazebo/src/bulldog_simulator/bulldog_gazebo/box.world

Step 2: Enable the arms and grippers:

        roslaunch bulldog_gazebo_moveit_config bulldog_gazebo_moveit_execution.launch

If arms and grippers are safely enabled, those four drivers can be correctly loaded.
### Step 3 : Run the pick and place demo
* Open a new terminal, run the gripper listener :
```bash
        rosrun seven_dof_arm_test double_gripper_gazebo.py

• Open another terminal, run the object recognition program :

        rosrun object_recognition_core detection -c  \
        `rospack find object_recognition_linemod`/conf/detection_gazebo.ros.ork

• Run Rviz :
  rviz
  When the rviz is loaded, add a new panel named rviz_bulldog_commander, which looks like below:
• Login bulldog and run the grasp_demo:

        ssh bulldog@192.168.1.30
        rosrun seven_dof_arm_test grasp_demo_gazebo

All programs are loaded, now you can use the rviz plugin to implement the whole process.