diff --git a/README.md b/README.md index c388790..211514e 100644 --- a/README.md +++ b/README.md @@ -1,14 +1,47 @@ -Phantomx pincher robot arm repository +IMPORTANT: This Library was developed as part of a Masters Thesis on Inverse Reinforcement Learning for Multi-Robot coordination in an Ad-Hoc setting. The Machine Learning part of the code, as well the experimental setup for this research is not publicly available. -Need to install ROS arduino onto the arbotix board using arduino 1.05 +phantomx_arm turtlebot Library +(Launch files marked by * (and the subsequent source files) are not uploaded due to privacy issues) -Install arbotix_ros package +ROS GAZEBO SIMULATOR EXPERIMENT LAUNCH: +In order to launch the experiments in Gazebo, go to the terminal and start the following launch files (in separate terminals).. +NOTE: To understand code structure and program flow, FOLLOW THE LAUNCH FILES -Configure phantomx_arm_moveit_controller_manager.launch file +Single Robot Experiment Launch: + roslaunch phantomx_arm_turtlebot_moveit_config gazeboPhantomX.launch + roslaunch phantomx_arm_turtlebot_moveit_config gazeboArmController.launch + roslaunch phantomx_arm_turtlebot_moveit_config amcl_robots_robot1.launch/roslaunch phantomx_arm_turtlebot_moveit_config amcl_robots_robot2.launch + (Robot 1 is the Expert and Robot 2 is the Learner) + *roslaunch phantomx_arm_turtlebot_moveit_config gazebo_expert_mdp.launch/roslaunch phantomx_arm_turtlebot_moveit_config gazebo_learner_mdp.launch + +*Multi-Robot Experiment Launch: + roslaunch phantomx_arm_turtlebot_moveit_config gazeboMultiPhantomX.launch + roslaunch phantomx_arm_turtlebot_moveit_config amcl_robots_robot1.launch + roslaunch phantomx_arm_turtlebot_moveit_config amcl_robots_robot2.launch + (Robot 1 is the Expert and Robot 2 is the Learner) + *roslaunch phantomx_arm_turtlebot_moveit_config gazebo_expert_mdp.launch + *roslaunch phantomx_arm_turtlebot_moveit_config gazebo_two_robot_learner_mdp.launch --- Create gazebo files to include multiple turtlebots with distinct controller namespaces +Testing IK and Motion Planning (Single Robot): + roslaunch phantomx_arm_turtlebot_moveit_config gazeboPhantomX.launch + roslaunch phantomx_arm_turtlebot_moveit_config gazeboArmController.launch + roslaunch phantomx_arm_turtlebot_moveit_config kinematicSolver.launch/roslaunch phantomx_arm_turtlebot_moveit_config pickANDplace.launch --- Incorporate AMCL + move_base for the system and get it rolling for multiple turtlebots inside gazebo +IMPORTANT NOTES: + Make sure the namespaces in the Launch files match the ones in the respective .cpp files + Any timeout errors resulting from tf transforms can be traced back by generating the tf tree (rosrun tf view_frames/rosrun tf tf_monitor) + +PHYSICAL ROBOT EXPERIMENT LAUNCH: +In order to launch the experiments on the physical robot, go to the terminal and start the following launch files (in separate terminals).. +NOTE: To understand code structure and program flow, FOLLOW THE LAUNCH FILES --- Program an effective pick-n-place functionality for multiple phantomx turtlebots in gazebo +Physical Robot Experiment Launch: + roslaunch phantomx_arm_turtlebot_moveit_config arm.launch + roslaunch phantomx_arm_turtlebot_moveit_config test.launch +Testing IK and Motion Planning (Single Robot): + roslaunch phantomx_arm_turtlebot_moveit_config kinematicSolver.launch/roslaunch phantomx_arm_turtlebot_moveit_config pickANDplace.launch + +IMPORTANT NOTES: + Make sure the namespaces in the Launch files match the ones in the respective .cpp files + Any timeout errors resulting from tf transforms can be traced back by generating the tf tree (rosrun tf view_frames/rosrun tf tf_monitor) diff --git a/boyd.png b/boyd.png new file mode 100755 index 0000000..153bea8 Binary files /dev/null and b/boyd.png differ diff --git a/boydFloorplanClosedDoors.png b/boydFloorplanClosedDoors.png new file mode 100644 index 0000000..e1dab1d Binary files /dev/null and b/boydFloorplanClosedDoors.png differ diff --git a/boyd_map.yaml b/boyd_map.yaml new file mode 100755 index 0000000..d952b9a --- /dev/null +++ b/boyd_map.yaml @@ -0,0 +1,7 @@ +image: boyd.png +resolution: 0.040000 +origin: [-25.000000, -25.000000, 0.000000] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 + diff --git a/my_map.yaml b/my_map.yaml index fbe7eb3..2ac73c1 100644 --- a/my_map.yaml +++ b/my_map.yaml @@ -1,4 +1,4 @@ -image: /home/michael/catkin_ws/src/phantomx_arm/my_map.pgm +image: /home/maulesht/indigo_workspace/src/phantomx_arm/my_map.pgm resolution: 0.050000 origin: [-12.200000, -12.200000, 0.000000] negate: 0 diff --git a/phantomx_arm_controller/config/joints.yaml~ b/phantomx_arm_controller/config/joints.yaml~ deleted file mode 100644 index 78bf787..0000000 --- a/phantomx_arm_controller/config/joints.yaml~ +++ /dev/null @@ -1,13 +0,0 @@ -port: /dev/ttyUSB0 -read_rate: 15 -write_rate: 25 -joints: { - joint_1: {id: 1, neutral: 205, max_angle: 180, min_angle: -60, max_speed: 90}, - joint_2: {id: 2, max_angle: 150, min_angle: -150, max_speed: 90}, - joint_3: {id: 3, max_angle: 150, min_angle: -150, max_speed: 90}, - joint_4: {id: 4, max_angle: 100, min_angle: -100, max_speed: 90}, - joint_5: {id: 5, max_speed: 90}, -} -controllers: { - arm_controller: {type: follow_controller, joints: [arm_shoulder_pan_joint, arm_shoulder_lift_joint, arm_elbow_flex_joint, arm_wrist_flex_joint], action_name: arm_controller/follow_joint_trajectory, onboard: False } -} diff --git a/phantomx_arm_controller/launch/arm.launch~ b/phantomx_arm_controller/launch/arm.launch~ deleted file mode 100644 index 8c80729..0000000 --- a/phantomx_arm_controller/launch/arm.launch~ +++ /dev/null @@ -1,13 +0,0 @@ - - - - - - - - - - - - - diff --git a/phantomx_arm_controller/launch/frames.gv b/phantomx_arm_controller/launch/frames.gv index 8445e4a..446e42b 100644 --- a/phantomx_arm_controller/launch/frames.gv +++ b/phantomx_arm_controller/launch/frames.gv @@ -1,44 +1,48 @@ digraph G { -"plate_top_link" -> "arm_base_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.189 Hz\nMost recent transform: 1426887227.355 \nBuffer length: 4.882 sec\n"]; -"base_link" -> "plate_top_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.189 Hz\nMost recent transform: 1426887227.355 \nBuffer length: 4.882 sec\n"]; -"base_footprint" -> "base_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.189 Hz\nMost recent transform: 1426887227.355 \nBuffer length: 4.882 sec\n"]; -"odom" -> "base_footprint"[label="Broadcaster: /virtual_joint_broadcaster_0\nAverage rate: 10.199 Hz\nMost recent transform: 1426887226.924 \nBuffer length: 4.805 sec\n"]; -"camera_rgb_frame" -> "camera_depth_frame"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.189 Hz\nMost recent transform: 1426887227.355 \nBuffer length: 4.882 sec\n"]; -"base_link" -> "camera_rgb_frame"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.189 Hz\nMost recent transform: 1426887227.355 \nBuffer length: 4.882 sec\n"]; -"camera_depth_frame" -> "camera_depth_optical_frame"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.189 Hz\nMost recent transform: 1426887227.355 \nBuffer length: 4.882 sec\n"]; -"camera_rgb_frame" -> "camera_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.189 Hz\nMost recent transform: 1426887227.355 \nBuffer length: 4.882 sec\n"]; -"camera_rgb_frame" -> "camera_rgb_optical_frame"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.189 Hz\nMost recent transform: 1426887227.355 \nBuffer length: 4.882 sec\n"]; -"base_link" -> "caster_back_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.189 Hz\nMost recent transform: 1426887227.355 \nBuffer length: 4.882 sec\n"]; -"base_link" -> "caster_front_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.189 Hz\nMost recent transform: 1426887227.355 \nBuffer length: 4.882 sec\n"]; -"base_link" -> "cliff_sensor_front_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.189 Hz\nMost recent transform: 1426887227.355 \nBuffer length: 4.882 sec\n"]; -"base_link" -> "cliff_sensor_left_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.189 Hz\nMost recent transform: 1426887227.355 \nBuffer length: 4.882 sec\n"]; -"base_link" -> "cliff_sensor_right_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.189 Hz\nMost recent transform: 1426887227.355 \nBuffer length: 4.882 sec\n"]; -"base_link" -> "gyro_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.189 Hz\nMost recent transform: 1426887227.355 \nBuffer length: 4.882 sec\n"]; -"link_4" -> "link_5"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.189 Hz\nMost recent transform: 1426887227.355 \nBuffer length: 4.882 sec\n"]; -"link_3" -> "link_4"[label="Broadcaster: /robot_state_publisher\nAverage rate: 22.747 Hz\nMost recent transform: 1426887226.868 \nBuffer length: 4.880 sec\n"]; -"link_5" -> "link_6"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.189 Hz\nMost recent transform: 1426887227.355 \nBuffer length: 4.882 sec\n"]; -"link_5" -> "link_7"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.189 Hz\nMost recent transform: 1426887227.355 \nBuffer length: 4.882 sec\n"]; -"base_link" -> "plate_bottom_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.189 Hz\nMost recent transform: 1426887227.355 \nBuffer length: 4.882 sec\n"]; -"base_link" -> "plate_middle_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.189 Hz\nMost recent transform: 1426887227.355 \nBuffer length: 4.882 sec\n"]; -"base_link" -> "pole_bottom_0_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.189 Hz\nMost recent transform: 1426887227.355 \nBuffer length: 4.882 sec\n"]; -"base_link" -> "pole_bottom_1_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.189 Hz\nMost recent transform: 1426887227.355 \nBuffer length: 4.882 sec\n"]; -"base_link" -> "pole_bottom_2_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.189 Hz\nMost recent transform: 1426887227.355 \nBuffer length: 4.882 sec\n"]; -"base_link" -> "pole_bottom_3_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.189 Hz\nMost recent transform: 1426887227.355 \nBuffer length: 4.882 sec\n"]; -"base_link" -> "pole_bottom_4_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.189 Hz\nMost recent transform: 1426887227.355 \nBuffer length: 4.882 sec\n"]; -"base_link" -> "pole_bottom_5_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.189 Hz\nMost recent transform: 1426887227.355 \nBuffer length: 4.882 sec\n"]; -"base_link" -> "pole_kinect_0_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.189 Hz\nMost recent transform: 1426887227.355 \nBuffer length: 4.882 sec\n"]; -"base_link" -> "pole_kinect_1_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.189 Hz\nMost recent transform: 1426887227.355 \nBuffer length: 4.882 sec\n"]; -"base_link" -> "pole_middle_0_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.189 Hz\nMost recent transform: 1426887227.355 \nBuffer length: 4.882 sec\n"]; -"base_link" -> "pole_middle_1_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.189 Hz\nMost recent transform: 1426887227.355 \nBuffer length: 4.882 sec\n"]; -"base_link" -> "pole_middle_2_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.189 Hz\nMost recent transform: 1426887227.355 \nBuffer length: 4.882 sec\n"]; -"base_link" -> "pole_middle_3_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.189 Hz\nMost recent transform: 1426887227.355 \nBuffer length: 4.882 sec\n"]; -"base_link" -> "pole_top_0_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.189 Hz\nMost recent transform: 1426887227.355 \nBuffer length: 4.882 sec\n"]; -"base_link" -> "pole_top_1_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.189 Hz\nMost recent transform: 1426887227.355 \nBuffer length: 4.882 sec\n"]; -"base_link" -> "pole_top_2_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.189 Hz\nMost recent transform: 1426887227.355 \nBuffer length: 4.882 sec\n"]; -"base_link" -> "pole_top_3_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.189 Hz\nMost recent transform: 1426887227.355 \nBuffer length: 4.882 sec\n"]; -"arm_base_link" -> "link_1"[label="Broadcaster: /robot_state_publisher\nAverage rate: 22.747 Hz\nMost recent transform: 1426887226.868 \nBuffer length: 4.880 sec\n"]; -"link_1" -> "link_2"[label="Broadcaster: /robot_state_publisher\nAverage rate: 22.747 Hz\nMost recent transform: 1426887226.868 \nBuffer length: 4.880 sec\n"]; -"link_2" -> "link_3"[label="Broadcaster: /robot_state_publisher\nAverage rate: 22.747 Hz\nMost recent transform: 1426887226.868 \nBuffer length: 4.880 sec\n"]; -"base_link" -> "wheel_left_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10.208 Hz\nMost recent transform: 1426887226.865 \nBuffer length: 4.800 sec\n"]; -"base_link" -> "wheel_right_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10.208 Hz\nMost recent transform: 1426887226.865 \nBuffer length: 4.800 sec\n"]; +"odom" -> "base_footprint"[label="Broadcaster: /gazebo\nAverage rate: 1005.445 Hz\nMost recent transform: 486.820 ( -0.018 sec old)\nBuffer length: 3.857 sec\n"]; +"arm_base_link" -> "link_1"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.000 Hz\nMost recent transform: 486.786 ( 0.016 sec old)\nBuffer length: 3.820 sec\n"]; +"plate_top_link" -> "arm_base_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.263 Hz\nMost recent transform: 487.283 ( -0.481 sec old)\nBuffer length: 3.800 sec\n"]; +"link_1" -> "link_2"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.000 Hz\nMost recent transform: 486.786 ( 0.016 sec old)\nBuffer length: 3.820 sec\n"]; +"link_2" -> "link_3"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.000 Hz\nMost recent transform: 486.786 ( 0.016 sec old)\nBuffer length: 3.820 sec\n"]; +"link_3" -> "link_4"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.000 Hz\nMost recent transform: 486.786 ( 0.016 sec old)\nBuffer length: 3.820 sec\n"]; +"link_5" -> "link_6"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.000 Hz\nMost recent transform: 486.786 ( 0.016 sec old)\nBuffer length: 3.820 sec\n"]; +"link_4" -> "link_5"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.263 Hz\nMost recent transform: 487.283 ( -0.481 sec old)\nBuffer length: 3.800 sec\n"]; +"link_5" -> "link_7"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.000 Hz\nMost recent transform: 486.786 ( 0.016 sec old)\nBuffer length: 3.820 sec\n"]; +"base_link" -> "wheel_left_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.183 Hz\nMost recent transform: 486.795 ( 0.007 sec old)\nBuffer length: 3.826 sec\n"]; +"base_footprint" -> "base_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.263 Hz\nMost recent transform: 487.283 ( -0.481 sec old)\nBuffer length: 3.800 sec\n"]; +"base_link" -> "wheel_right_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.183 Hz\nMost recent transform: 486.795 ( 0.007 sec old)\nBuffer length: 3.826 sec\n"]; +"base_link" -> "plate_top_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.263 Hz\nMost recent transform: 487.283 ( -0.481 sec old)\nBuffer length: 3.800 sec\n"]; +"camera_rgb_frame" -> "camera_depth_frame"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.263 Hz\nMost recent transform: 487.283 ( -0.481 sec old)\nBuffer length: 3.800 sec\n"]; +"base_link" -> "camera_rgb_frame"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.263 Hz\nMost recent transform: 487.283 ( -0.481 sec old)\nBuffer length: 3.800 sec\n"]; +"camera_depth_frame" -> "camera_depth_optical_frame"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.263 Hz\nMost recent transform: 487.283 ( -0.481 sec old)\nBuffer length: 3.800 sec\n"]; +"camera_rgb_frame" -> "camera_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.263 Hz\nMost recent transform: 487.283 ( -0.481 sec old)\nBuffer length: 3.800 sec\n"]; +"camera_rgb_frame" -> "camera_rgb_optical_frame"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.263 Hz\nMost recent transform: 487.283 ( -0.481 sec old)\nBuffer length: 3.800 sec\n"]; +"base_link" -> "caster_back_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.263 Hz\nMost recent transform: 487.283 ( -0.481 sec old)\nBuffer length: 3.800 sec\n"]; +"base_link" -> "caster_front_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.263 Hz\nMost recent transform: 487.283 ( -0.481 sec old)\nBuffer length: 3.800 sec\n"]; +"base_link" -> "cliff_sensor_front_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.263 Hz\nMost recent transform: 487.283 ( -0.481 sec old)\nBuffer length: 3.800 sec\n"]; +"base_link" -> "cliff_sensor_left_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.263 Hz\nMost recent transform: 487.283 ( -0.481 sec old)\nBuffer length: 3.800 sec\n"]; +"base_link" -> "cliff_sensor_right_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.263 Hz\nMost recent transform: 487.283 ( -0.481 sec old)\nBuffer length: 3.800 sec\n"]; +"base_link" -> "gyro_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.263 Hz\nMost recent transform: 487.283 ( -0.481 sec old)\nBuffer length: 3.800 sec\n"]; +"base_link" -> "plate_bottom_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.263 Hz\nMost recent transform: 487.283 ( -0.481 sec old)\nBuffer length: 3.800 sec\n"]; +"base_link" -> "plate_middle_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.263 Hz\nMost recent transform: 487.283 ( -0.481 sec old)\nBuffer length: 3.800 sec\n"]; +"base_link" -> "pole_bottom_0_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.263 Hz\nMost recent transform: 487.283 ( -0.481 sec old)\nBuffer length: 3.800 sec\n"]; +"base_link" -> "pole_bottom_1_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.263 Hz\nMost recent transform: 487.283 ( -0.481 sec old)\nBuffer length: 3.800 sec\n"]; +"base_link" -> "pole_bottom_2_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.263 Hz\nMost recent transform: 487.283 ( -0.481 sec old)\nBuffer length: 3.800 sec\n"]; +"base_link" -> "pole_bottom_3_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.263 Hz\nMost recent transform: 487.283 ( -0.481 sec old)\nBuffer length: 3.800 sec\n"]; +"base_link" -> "pole_bottom_4_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.263 Hz\nMost recent transform: 487.283 ( -0.481 sec old)\nBuffer length: 3.800 sec\n"]; +"base_link" -> "pole_bottom_5_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.263 Hz\nMost recent transform: 487.283 ( -0.481 sec old)\nBuffer length: 3.800 sec\n"]; +"base_link" -> "pole_kinect_0_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.263 Hz\nMost recent transform: 487.283 ( -0.481 sec old)\nBuffer length: 3.800 sec\n"]; +"base_link" -> "pole_kinect_1_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.263 Hz\nMost recent transform: 487.283 ( -0.481 sec old)\nBuffer length: 3.800 sec\n"]; +"base_link" -> "pole_middle_0_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.263 Hz\nMost recent transform: 487.283 ( -0.481 sec old)\nBuffer length: 3.800 sec\n"]; +"base_link" -> "pole_middle_1_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.263 Hz\nMost recent transform: 487.283 ( -0.481 sec old)\nBuffer length: 3.800 sec\n"]; +"base_link" -> "pole_middle_2_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.263 Hz\nMost recent transform: 487.283 ( -0.481 sec old)\nBuffer length: 3.800 sec\n"]; +"base_link" -> "pole_middle_3_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.263 Hz\nMost recent transform: 487.283 ( -0.481 sec old)\nBuffer length: 3.800 sec\n"]; +"base_link" -> "pole_top_0_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.263 Hz\nMost recent transform: 487.283 ( -0.481 sec old)\nBuffer length: 3.800 sec\n"]; +"base_link" -> "pole_top_1_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.263 Hz\nMost recent transform: 487.283 ( -0.481 sec old)\nBuffer length: 3.800 sec\n"]; +"base_link" -> "pole_top_2_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.263 Hz\nMost recent transform: 487.283 ( -0.481 sec old)\nBuffer length: 3.800 sec\n"]; +"base_link" -> "pole_top_3_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.263 Hz\nMost recent transform: 487.283 ( -0.481 sec old)\nBuffer length: 3.800 sec\n"]; +edge [style=invis]; + subgraph cluster_legend { style=bold; color=black; label ="view_frames Result"; +"Recorded at time: 486.802"[ shape=plaintext ] ; + }->"odom"; } \ No newline at end of file diff --git a/phantomx_arm_controller/launch/frames.pdf b/phantomx_arm_controller/launch/frames.pdf index eda3b43..4f34488 100644 Binary files a/phantomx_arm_controller/launch/frames.pdf and b/phantomx_arm_controller/launch/frames.pdf differ diff --git a/phantomx_arm_description/urdf/common_colours.xacro b/phantomx_arm_description/urdf/common_colours.xacro index 7d8b173..372f1cf 100644 --- a/phantomx_arm_description/urdf/common_colours.xacro +++ b/phantomx_arm_description/urdf/common_colours.xacro @@ -11,5 +11,6 @@ + diff --git a/phantomx_arm_description/urdf/common_materials.xacro b/phantomx_arm_description/urdf/common_materials.xacro index 3033b96..1fa63e1 100644 --- a/phantomx_arm_description/urdf/common_materials.xacro +++ b/phantomx_arm_description/urdf/common_materials.xacro @@ -31,5 +31,5 @@ - + diff --git a/phantomx_arm_description/urdf/phantomx.gazebo b/phantomx_arm_description/urdf/phantomx.gazebo new file mode 100644 index 0000000..e24414e --- /dev/null +++ b/phantomx_arm_description/urdf/phantomx.gazebo @@ -0,0 +1,77 @@ + + + + + + + 0.2 + 0.2 + Gazebo/Grey + + + + Gazebo/Black + + + + Gazebo/Yellow + + + + Gazebo/Black + + + + Gazebo/Yellow + + + + Gazebo/White + + + + Gazebo/Red + + + + + + 30.0 + + 1.3962634 + + 800 + 800 + R8G8B8 + + + 0.02 + 300 + + + gaussian + + 0.0 + 0.007 + + + + true + 0.0 + phantomx/camera_1 + image_raw + camera_info + phantomx_camera_link + 0.07 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + + + + + diff --git a/phantomx_arm_description/urdf/phantomx_macro.xacro b/phantomx_arm_description/urdf/phantomx_macro.xacro index ffd1e19..6eaab97 100644 --- a/phantomx_arm_description/urdf/phantomx_macro.xacro +++ b/phantomx_arm_description/urdf/phantomx_macro.xacro @@ -2,8 +2,23 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + @@ -168,6 +249,7 @@ + @@ -193,6 +275,24 @@ + + + + + + + + + + + + + + + + + + @@ -211,42 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+ + + + + + + + 0 0 0 + -1 0 0 -90 + 1.70968 1.79806 1.8 + + 1 0 0 0 0 1 0 4.06238 0 0 1 10 0 0 0 1 + + + + + + + + + + + + + + 0 + 3.33333 + + + + + 30 + + + + + + + + diff --git a/phantomx_arm_gazebo/worlds/crate_readme.txt b/phantomx_arm_gazebo/worlds/crate_readme.txt new file mode 100644 index 0000000..ca52e2f --- /dev/null +++ b/phantomx_arm_gazebo/worlds/crate_readme.txt @@ -0,0 +1,30 @@ +-- 3dvia.com -- + +The zip file c1_808c8eba16a8355cd94b80cdc9005f572cdc285b_01.dae.zip contains the following files : +- readme.txt +- c1_808c8eba16a8355cd94b80cdc9005f572cdc285b_01.dae +- w_ev_ukr0153.jpg + + +-- Model information -- + +Model Name : Personalised Crate - Vegetable Storage +Author : mydeco_scenes +Publisher : mydeco_scenes + +You can view this model here : +http://www.3dvia.com/content/13EBF9091B2D3F11 +More models about this author : +http://www.3dvia.com/mydeco_scenes + + +-- Attached license -- + +A license is attached to the Personalised Crate - Vegetable Storage model and all related media. +You must agree with this licence before using the enclosed media. + +License : Attribution-NonCommercial 2.5 +Detailed license : http://creativecommons.org/licenses/by-nc/2.5/ + +The licenses used by 3dvia are based on Creative Commons Licenses. +More info: http://creativecommons.org/about/licenses/meet-the-licenses diff --git a/phantomx_arm_gazebo/worlds/cube_readme.txt b/phantomx_arm_gazebo/worlds/cube_readme.txt new file mode 100644 index 0000000..b608920 --- /dev/null +++ b/phantomx_arm_gazebo/worlds/cube_readme.txt @@ -0,0 +1,29 @@ +-- 3dvia.com -- + +The zip file Cube.DAE.zip contains the following files : +- readme.txt +- Cube.DAE + + +-- Model information -- + +Model Name : Cube +Author : balaya +Publisher : balaya + +You can view this model here : +http://www.3dvia.com/content/A07A0096A8BA8C9E +More models about this author : +http://www.3dvia.com/balaya + + +-- Attached license -- + +A license is attached to the Cube model and all related media. +You must agree with this licence before using the enclosed media. + +License : Attribution License 2.5 +Detailed license : http://creativecommons.org/licenses/by/2.5/ + +The licenses used by 3dvia are based on Creative Commons Licenses. +More info: http://creativecommons.org/about/licenses/meet-the-licenses diff --git a/phantomx_arm_gazebo/worlds/hello.world b/phantomx_arm_gazebo/worlds/hello.world new file mode 100644 index 0000000..f0ff468 --- /dev/null +++ b/phantomx_arm_gazebo/worlds/hello.world @@ -0,0 +1,6 @@ + + + + + + diff --git a/phantomx_arm_gazebo/worlds/phantomx.world b/phantomx_arm_gazebo/worlds/phantomx.world index 7e619d7..da5e300 100644 --- a/phantomx_arm_gazebo/worlds/phantomx.world +++ b/phantomx_arm_gazebo/worlds/phantomx.world @@ -12,8 +12,230 @@ model://sun - - + + + 4.5 4 0 0 0 0 + true + + + + + + 0.35 0.75 0.9 + model://Slab.dae + + + + + + + + 0.35 0.75 0.9 + model://Slab.dae + + + + + + + + + + 3.35 4 0 0 0 0 + true + + + + + + 0.65 0.75 0.9 + model://Slab.dae + + + + + + + + 0.65 0.75 0.9 + model://Slab.dae + + + + + + + + + + + + 4.34 4 0.9 0 0 0 + false + + + + 0.000001 + + + 0.000001 + 0.0 + 0.0 + 0.000001 + 0.0 + 0.000001 + + + + + + + 0.03 0.03 0.1 + model://Cube.dae + + + + + + + + 0.03 0.03 0.1 + model://Cube.dae + + + + + + + + + + + + + 3.7 3.9 0.4205 0 0 0 + false + + + + 0.000001 + + + 0.000001 + 0.0 + 0.0 + 0.000001 + 0.0 + 0.000001 + + + + + + + 0.025 0.025 0.075 + model://Cube.dae + + + + + + + + 0.025 0.025 0.075 + model://Cube.dae + + + + + + + + + + + + + 3.775 3.9 0.4205 0 0 0 + true + + + + + + 0.275 0.275 0.275 + model://crate_1.dae + + + + + + + + 0.275 0.275 0.275 + model://crate_1.dae + + + + + + + + + + 3.35 4.1 0.4205 0 0 0 + true + + + + + + 0.275 0.275 0.275 + model://crate_2.dae + + + + + + + + 0.275 0.275 0.275 + model://crate_2.dae + + + + + + + + + + 2.93 3.9 0.4205 0 0 0 + true + + + + + + 0.275 0.275 0.275 + model://crate_3.dae + + + + + + + + 0.275 0.275 0.275 + model://crate_3.dae + + + + + + + + -5 -5 0 0 0 0 true diff --git a/phantomx_arm_gazebo/worlds/phantomx_world_1.world b/phantomx_arm_gazebo/worlds/phantomx_world_1.world new file mode 100644 index 0000000..872b74a --- /dev/null +++ b/phantomx_arm_gazebo/worlds/phantomx_world_1.world @@ -0,0 +1,201 @@ + + + + + + + model://ground_plane + + + + + model://sun + + + + + 4.5 4 0 0 0 0 + true + + + + + + 0.35 0.75 0.9 + model://Slab.dae + + + + + + + + 0.35 0.75 0.9 + model://Slab.dae + + + + + + + + + + 4.34 4 0.9 0 0 0 + false + + + + 0.000001 + + + 0.000001 + 0.0 + 0.0 + 0.000001 + 0.0 + 0.000001 + + + + + + + 0.03 0.03 0.1 + model://Cube.dae + + + + + + + + 0.03 0.03 0.1 + model://Cube.dae + + + + + + + + + + + + + 4.5 5 0 0 0 0 + true + + + + + + 0.75 0.75 0.75 + model://crate_1.dae + + + + + + + + 0.75 0.75 0.75 + model://crate_1.dae + + + + + + + + + + 3.5 3 0 0 0 0 + true + + + + + + 0.75 0.75 0.75 + model://crate_2.dae + + + + + + + + 0.75 0.75 0.75 + model://crate_2.dae + + + + + + + + + + 3.5 5 0 0 0 0 + true + + + + + + 0.75 0.75 0.75 + model://crate_3.dae + + + + + + + + 0.75 0.75 0.75 + model://crate_3.dae + + + + + + + + + + -5 -5 0 0 0 0 + true + + + + + + 0.5 0.5 0.5 + model://Boyd_5th_floor_brown_doors_final.dae + + + + + + + + 0.5 0.5 0.5 + model://Boyd_5th_floor_brown_doors_final.dae + + + + + + + + + + 10.927360 -4.376610 3.740080 0.000000 0.275643 2.356190 + orbit + + + + + diff --git a/phantomx_arm_gazebo/worlds/slab_readme.txt b/phantomx_arm_gazebo/worlds/slab_readme.txt new file mode 100644 index 0000000..ea2877e --- /dev/null +++ b/phantomx_arm_gazebo/worlds/slab_readme.txt @@ -0,0 +1,30 @@ +-- 3dvia.com -- + +The zip file Slab matrix COFFEE 1200_DAE.DAE.zip contains the following files : +- readme.txt +- Slab matrix COFFEE 1200_DAE.DAE +- SlabWood.jpg + + +-- Model information -- + +Model Name : Slab Colour Grid Coffee Table 1200mm +Author : tomdixon +Publisher : tomdixon + +You can view this model here : +http://www.3dvia.com/content/CD746EC3D5E7F9CB +More models about this author : +http://www.3dvia.com/tomdixon + + +-- Attached license -- + +A license is attached to the Slab Colour Grid Coffee Table 1200mm model and all related media. +You must agree with this licence before using the enclosed media. + +License : Attribution License 2.5 +Detailed license : http://creativecommons.org/licenses/by/2.5/ + +The licenses used by 3dvia are based on Creative Commons Licenses. +More info: http://creativecommons.org/about/licenses/meet-the-licenses diff --git a/phantomx_arm_gazebo/worlds/w_ev_ukr0153.jpg b/phantomx_arm_gazebo/worlds/w_ev_ukr0153.jpg new file mode 100644 index 0000000..9909f29 Binary files /dev/null and b/phantomx_arm_gazebo/worlds/w_ev_ukr0153.jpg differ diff --git a/phantomx_arm_turtlebot_description/urdf/sensors/asus_xtion_pro.urdf.xacro~ b/phantomx_arm_turtlebot_description/urdf/sensors/asus_xtion_pro.urdf.xacro~ deleted file mode 100644 index b0e8850..0000000 --- a/phantomx_arm_turtlebot_description/urdf/sensors/asus_xtion_pro.urdf.xacro~ +++ /dev/null @@ -1,109 +0,0 @@ - - - - f.xacro"/> - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/phantomx_arm_turtlebot_description/urdf/stacks/circles.urdf.xacro~ b/phantomx_arm_turtlebot_description/urdf/stacks/circles.urdf.xacro~ deleted file mode 100644 index 6f8ac23..0000000 --- a/phantomx_arm_turtlebot_description/urdf/stacks/circles.urdf.xacro~ +++ /dev/null @@ -1,310 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/phantomx_arm_turtlebot_description/urdf/stacks/hexagons.urdf.xacro~ b/phantomx_arm_turtlebot_description/urdf/stacks/hexagons.urdf.xacro~ deleted file mode 100644 index 4d69bf7..0000000 --- a/phantomx_arm_turtlebot_description/urdf/stacks/hexagons.urdf.xacro~ +++ /dev/null @@ -1,239 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/phantomx_arm_turtlebot_ikfast_plugin/CMakeLists.txt~ b/phantomx_arm_turtlebot_ikfast_plugin/CMakeLists.txt~ deleted file mode 100644 index 0a7c553..0000000 --- a/phantomx_arm_turtlebot_ikfast_plugin/CMakeLists.txt~ +++ /dev/null @@ -1,58 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(phantomx_arm_turtlebot_ikfast_plugin) - -find_package(Eigen REQUIRED) -include_directories(SYSTEM ${EIGEN_INCLUDE_DIRS}) - -find_package(catkin REQUIRED COMPONENTS - moveit_core - pluginlib - roscpp - #eigen_conversions - ) - -include_directories(${catkin_INCLUDE_DIRS}) -link_directories(${catkin_LIBRARY_DIRS}) - -catkin_package( - LIBRARIES - DEPENDS - moveit_core - pluginlib - roscpp - #eigen_conversions - ) - -include_directories(include) - -set(MOVEIT_LIB_NAME phantomx_arm_turtlebot_moveit_ikfast_kinematics_plugin) - -find_package(LAPACK REQUIRED) - -add_library(${MOVEIT_LIB_NAME} src/phantomx_arm__turtlebot_arm_ikfast_moveit_plugin.cpp) -target_link_libraries(${MOVEIT_LIB_NAME} ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${LAPACK_LIBRARIES}) - -install(TARGETS ${MOVEIT_LIB_NAME} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}) -install(DIRECTORY include/ DESTINATION include) - -install( - FILES - phantomx_arm_turtlebot_moveit_ikfast_plugin_description.xml - DESTINATION - ${CATKIN_PACKAGE_SHARE_DESTINATION} - ) - - - - - - - - - - - - - - - diff --git a/phantomx_arm_turtlebot_ikfast_plugin/package.xml~ b/phantomx_arm_turtlebot_ikfast_plugin/package.xml~ deleted file mode 100644 index 966cd29..0000000 --- a/phantomx_arm_turtlebot_ikfast_plugin/package.xml~ +++ /dev/null @@ -1,47 +0,0 @@ - - - phantomx_arm_turtlebot_ikfast_plugin - 0.0.0 - The phantomx_arm_turtlebot_ikfast_plugin package - - - - Originally mike ferguson, this has been edited for phantomx - - - - TODO - - - - - - - - - - - - - - - - - - - - catkin - - - - - - - - moveit_core - moveit_core - pluginlib - pluginlib - roscpp - roscpp - diff --git a/phantomx_arm_turtlebot_ikfast_plugin/turtlebot_arm_moveit_ikfast_plugin_description.xml~ b/phantomx_arm_turtlebot_ikfast_plugin/turtlebot_arm_moveit_ikfast_plugin_description.xml~ deleted file mode 100644 index ddcaf2c..0000000 --- a/phantomx_arm_turtlebot_ikfast_plugin/turtlebot_arm_moveit_ikfast_plugin_description.xml~ +++ /dev/null @@ -1,6 +0,0 @@ - - - - IKFast61 plugin for closed-form kinematics - - diff --git a/phantomx_arm_turtlebot_moveit_config/CMakeLists.txt b/phantomx_arm_turtlebot_moveit_config/CMakeLists.txt index 58e3ca2..e33865b 100644 --- a/phantomx_arm_turtlebot_moveit_config/CMakeLists.txt +++ b/phantomx_arm_turtlebot_moveit_config/CMakeLists.txt @@ -22,6 +22,7 @@ find_package(catkin REQUIRED COMPONENTS ## find_package(Curses REQUIRED COMPONENTS system) find_package(Eigen REQUIRED) +find_package(gazebo REQUIRED) find_package(Boost REQUIRED system filesystem date_time thread) @@ -47,7 +48,11 @@ catkin_package( include_directories(SYSTEM ${Boost_INCLUDE_DIR} ${EIGEN_INCLUDE_DIRS}) include_directories(include ${catkin_INCLUDE_DIRS}) +include_directories(${GAZEBO_INCLUDE_DIRS}) link_directories(${catkin_LIBRARY_DIRS}) +link_directories(${GAZEBO_LIBRARY_DIRS}) + +list(APPEND CMAKE_CXX_FLAGS "${GAZEBO_CXX_FLAGS}") ## Check ^^^^^^ ## include_directories(SYSTEM ${Boost_INCLUDE_DIR} ${EIGEN_INCLUDE_DIRS}) @@ -63,3 +68,13 @@ add_dependencies(motion_planner phantomx_arm_turtlebot_moveit_config_generate_me add_executable(kinematicSolver src/kinematicSolver.cpp) target_link_libraries(kinematicSolver ${catkin_LIBRARIES} ${Boost_LIBRARIES}) add_dependencies(kinematicSolver phantomx_arm_turtlebot_moveit_config_generate_messages_cpp) + +add_executable(pickANDplace_trial src/PicknPlace/tasks/pickANDplace_trial.cpp src/PicknPlace/nodes/pickANDplace.cpp) +target_link_libraries(pickANDplace_trial ${catkin_LIBRARIES} ${Boost_LIBRARIES}) +add_dependencies(pickANDplace_trial phantomx_arm_turtlebot_moveit_config_generate_messages_cpp) + +add_library(hello_world SHARED src/Gazebo_Plugins/hello_world.cc) +target_link_libraries(hello_world ${GAZEBO_LIBRARIES}) + +add_library(gazebo_ros_phantomx_grasp_hack SHARED src/Gazebo_Plugins/gazebo_ros_phantomx_grasp_hack.cc) +target_link_libraries(gazebo_ros_phantomx_grasp_hack ${GAZEBO_LIBRARIES} ${Boost_LIBRARIES}) diff --git a/phantomx_arm_turtlebot_moveit_config/config/controllers.yaml b/phantomx_arm_turtlebot_moveit_config/config/controllers.yaml index ca11b2d..e02a0ff 100644 --- a/phantomx_arm_turtlebot_moveit_config/config/controllers.yaml +++ b/phantomx_arm_turtlebot_moveit_config/config/controllers.yaml @@ -1,14 +1,15 @@ controller_list: - - name: arm_controller - action_ns: follow_joint_trajectory + # Controller for executing joint-space trajectories on a group of joints on the "Gazebo Robot" & the "Physical Robot" + - name: Maulesh/phantomx_arm/arm_controller type: FollowJointTrajectory + action_ns: follow_joint_trajectory default: true joints: - joint_1 - joint_2 - joint_3 - joint_4 - - name: gripper_controller + - name: Maulesh/phantomx_arm/gripper_controller type: GripperCommand action_ns: gripper_action default: true diff --git a/phantomx_arm_turtlebot_moveit_config/config/gazebo_arm_controller.yaml b/phantomx_arm_turtlebot_moveit_config/config/gazebo_arm_controller.yaml new file mode 100644 index 0000000..2b66feb --- /dev/null +++ b/phantomx_arm_turtlebot_moveit_config/config/gazebo_arm_controller.yaml @@ -0,0 +1,59 @@ +# Controller for executing joint-space trajectories on a group of joints +# Trajectories are specified as a set of waypoints to be reached at specific time instants, which the controller attempts to execute +# The controller exposes a control_msgs::FollowJointTrajectoryAction interface in the follow_joint_trajectory namespace of the controller + +Maulesh/phantomx_arm: + # Publish all joint states ----------------------------------------------- + joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: 50 + + # Publish Arm Controller Trajectories ----------------------------------- + arm_controller: + type: effort_controllers/JointTrajectoryController + action_ns: follow_joint_trajectory + default: true + joints: + - joint_1 + - joint_2 + - joint_3 + - joint_4 + + constraints: + goal_time: 0.5 # Override default + stopped_velocity_tolerance: 0.02 # Override default + joint_1: + trajectory: 0.05 # Not enforced if unspecified + goal: 0.02 # Not enforced if unspecified + joint_2: + trajectory: 0.05 # Not enforced if unspecified + goal: 0.02 # Not enforced if unspecified + joint_3: + trajectory: 0.05 # Not enforced if unspecified + goal: 0.02 # Not enforced if unspecified + joint_4: + trajectory: 0.05 # Not enforced if unspecified + goal: 0.02 # Not enforced if unspecified + + gains: # Required because we're controlling an effort interface + joint_1: {p: 0.20, i: 0.009, d: 0.2, i_clamp: 1} + joint_2: {p: 0.20, i: 0.009, d: 0.2, i_clamp: 1} + joint_3: {p: 0.20, i: 0.009, d: 0.2, i_clamp: 1} + joint_4: {p: 0.20, i: 0.009, d: 0.2, i_clamp: 1} + + state_publish_rate: 25 # Override default + action_monitor_rate: 30 # Override default + stop_trajectory_duration: 0 # Override default + + # Publish Gripper Controller States -------------------------------------- + gripper_controller_right: + type: effort_controllers/JointPositionController + joint: joint_6 + pid: {p: 0.20, i: 0.009, d: 0.2} + + # Publish Gripper Controller States -------------------------------------- + gripper_controller_left: + type: effort_controllers/JointPositionController + joint: joint_7 + pid: {p: 0.20, i: 0.009, d: 0.2} + diff --git a/phantomx_arm_turtlebot_moveit_config/config/joint_limits.yaml b/phantomx_arm_turtlebot_moveit_config/config/joint_limits.yaml index 0189ee5..8de6d93 100644 --- a/phantomx_arm_turtlebot_moveit_config/config/joint_limits.yaml +++ b/phantomx_arm_turtlebot_moveit_config/config/joint_limits.yaml @@ -18,4 +18,4 @@ joint_limits: has_velocity_limits: true max_velocity: 1.571 has_acceleration_limits: false - max_acceleration: 0 \ No newline at end of file + max_acceleration: 0 diff --git a/phantomx_arm_turtlebot_moveit_config/launch/frames.gv b/phantomx_arm_turtlebot_moveit_config/launch/frames.gv index d383d97..446e42b 100644 --- a/phantomx_arm_turtlebot_moveit_config/launch/frames.gv +++ b/phantomx_arm_turtlebot_moveit_config/launch/frames.gv @@ -1,48 +1,48 @@ digraph G { -"plate_top_link" -> "arm_base_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.205 Hz\nMost recent transform: 1434138819.894 ( -0.460 sec old)\nBuffer length: 4.940 sec\n"]; -"base_link" -> "plate_top_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.205 Hz\nMost recent transform: 1434138819.894 ( -0.460 sec old)\nBuffer length: 4.940 sec\n"]; -"base_footprint" -> "base_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.205 Hz\nMost recent transform: 1434138819.894 ( -0.460 sec old)\nBuffer length: 4.940 sec\n"]; -"odom" -> "base_footprint"[label="Broadcaster: /virtual_joint_broadcaster_0\nAverage rate: 10.196 Hz\nMost recent transform: 1434138819.531 ( -0.097 sec old)\nBuffer length: 4.904 sec\n"]; -"camera_rgb_frame" -> "camera_depth_frame"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.205 Hz\nMost recent transform: 1434138819.894 ( -0.460 sec old)\nBuffer length: 4.940 sec\n"]; -"base_link" -> "camera_rgb_frame"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.205 Hz\nMost recent transform: 1434138819.894 ( -0.460 sec old)\nBuffer length: 4.940 sec\n"]; -"camera_depth_frame" -> "camera_depth_optical_frame"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.205 Hz\nMost recent transform: 1434138819.894 ( -0.460 sec old)\nBuffer length: 4.940 sec\n"]; -"camera_rgb_frame" -> "camera_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.205 Hz\nMost recent transform: 1434138819.894 ( -0.460 sec old)\nBuffer length: 4.940 sec\n"]; -"camera_rgb_frame" -> "camera_rgb_optical_frame"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.205 Hz\nMost recent transform: 1434138819.894 ( -0.460 sec old)\nBuffer length: 4.940 sec\n"]; -"base_link" -> "caster_back_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.205 Hz\nMost recent transform: 1434138819.894 ( -0.460 sec old)\nBuffer length: 4.940 sec\n"]; -"base_link" -> "caster_front_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.205 Hz\nMost recent transform: 1434138819.894 ( -0.460 sec old)\nBuffer length: 4.940 sec\n"]; -"base_link" -> "cliff_sensor_front_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.205 Hz\nMost recent transform: 1434138819.894 ( -0.460 sec old)\nBuffer length: 4.940 sec\n"]; -"base_link" -> "cliff_sensor_left_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.205 Hz\nMost recent transform: 1434138819.894 ( -0.460 sec old)\nBuffer length: 4.940 sec\n"]; -"base_link" -> "cliff_sensor_right_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.205 Hz\nMost recent transform: 1434138819.894 ( -0.460 sec old)\nBuffer length: 4.940 sec\n"]; -"base_link" -> "gyro_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.205 Hz\nMost recent transform: 1434138819.894 ( -0.460 sec old)\nBuffer length: 4.940 sec\n"]; -"link_4" -> "link_5"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.205 Hz\nMost recent transform: 1434138819.894 ( -0.460 sec old)\nBuffer length: 4.940 sec\n"]; -"link_3" -> "link_4"[label="Broadcaster: /robot_state_publisher\nAverage rate: 22.455 Hz\nMost recent transform: 1434138819.325 ( 0.109 sec old)\nBuffer length: 4.810 sec\n"]; -"link_5" -> "link_6"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.205 Hz\nMost recent transform: 1434138819.894 ( -0.460 sec old)\nBuffer length: 4.940 sec\n"]; -"link_5" -> "link_7"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.205 Hz\nMost recent transform: 1434138819.894 ( -0.460 sec old)\nBuffer length: 4.940 sec\n"]; -"base_link" -> "plate_bottom_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.205 Hz\nMost recent transform: 1434138819.894 ( -0.460 sec old)\nBuffer length: 4.940 sec\n"]; -"base_link" -> "plate_middle_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.205 Hz\nMost recent transform: 1434138819.894 ( -0.460 sec old)\nBuffer length: 4.940 sec\n"]; -"base_link" -> "pole_bottom_0_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.205 Hz\nMost recent transform: 1434138819.894 ( -0.460 sec old)\nBuffer length: 4.940 sec\n"]; -"base_link" -> "pole_bottom_1_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.205 Hz\nMost recent transform: 1434138819.894 ( -0.460 sec old)\nBuffer length: 4.940 sec\n"]; -"base_link" -> "pole_bottom_2_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.205 Hz\nMost recent transform: 1434138819.894 ( -0.460 sec old)\nBuffer length: 4.940 sec\n"]; -"base_link" -> "pole_bottom_3_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.205 Hz\nMost recent transform: 1434138819.894 ( -0.460 sec old)\nBuffer length: 4.940 sec\n"]; -"base_link" -> "pole_bottom_4_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.205 Hz\nMost recent transform: 1434138819.894 ( -0.460 sec old)\nBuffer length: 4.940 sec\n"]; -"base_link" -> "pole_bottom_5_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.205 Hz\nMost recent transform: 1434138819.894 ( -0.460 sec old)\nBuffer length: 4.940 sec\n"]; -"base_link" -> "pole_kinect_0_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.205 Hz\nMost recent transform: 1434138819.894 ( -0.460 sec old)\nBuffer length: 4.940 sec\n"]; -"base_link" -> "pole_kinect_1_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.205 Hz\nMost recent transform: 1434138819.894 ( -0.460 sec old)\nBuffer length: 4.940 sec\n"]; -"base_link" -> "pole_middle_0_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.205 Hz\nMost recent transform: 1434138819.894 ( -0.460 sec old)\nBuffer length: 4.940 sec\n"]; -"base_link" -> "pole_middle_1_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.205 Hz\nMost recent transform: 1434138819.894 ( -0.460 sec old)\nBuffer length: 4.940 sec\n"]; -"base_link" -> "pole_middle_2_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.205 Hz\nMost recent transform: 1434138819.894 ( -0.460 sec old)\nBuffer length: 4.940 sec\n"]; -"base_link" -> "pole_middle_3_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.205 Hz\nMost recent transform: 1434138819.894 ( -0.460 sec old)\nBuffer length: 4.940 sec\n"]; -"base_link" -> "pole_top_0_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.205 Hz\nMost recent transform: 1434138819.894 ( -0.460 sec old)\nBuffer length: 4.940 sec\n"]; -"base_link" -> "pole_top_1_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.205 Hz\nMost recent transform: 1434138819.894 ( -0.460 sec old)\nBuffer length: 4.940 sec\n"]; -"base_link" -> "pole_top_2_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.205 Hz\nMost recent transform: 1434138819.894 ( -0.460 sec old)\nBuffer length: 4.940 sec\n"]; -"base_link" -> "pole_top_3_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.205 Hz\nMost recent transform: 1434138819.894 ( -0.460 sec old)\nBuffer length: 4.940 sec\n"]; -"arm_base_link" -> "link_1"[label="Broadcaster: /robot_state_publisher\nAverage rate: 22.455 Hz\nMost recent transform: 1434138819.325 ( 0.109 sec old)\nBuffer length: 4.810 sec\n"]; -"link_1" -> "link_2"[label="Broadcaster: /robot_state_publisher\nAverage rate: 22.455 Hz\nMost recent transform: 1434138819.325 ( 0.109 sec old)\nBuffer length: 4.810 sec\n"]; -"link_2" -> "link_3"[label="Broadcaster: /robot_state_publisher\nAverage rate: 22.455 Hz\nMost recent transform: 1434138819.325 ( 0.109 sec old)\nBuffer length: 4.810 sec\n"]; -"base_link" -> "wheel_left_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10.208 Hz\nMost recent transform: 1434138819.315 ( 0.119 sec old)\nBuffer length: 4.800 sec\n"]; -"base_link" -> "wheel_right_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 10.208 Hz\nMost recent transform: 1434138819.315 ( 0.119 sec old)\nBuffer length: 4.800 sec\n"]; +"odom" -> "base_footprint"[label="Broadcaster: /gazebo\nAverage rate: 1005.445 Hz\nMost recent transform: 486.820 ( -0.018 sec old)\nBuffer length: 3.857 sec\n"]; +"arm_base_link" -> "link_1"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.000 Hz\nMost recent transform: 486.786 ( 0.016 sec old)\nBuffer length: 3.820 sec\n"]; +"plate_top_link" -> "arm_base_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.263 Hz\nMost recent transform: 487.283 ( -0.481 sec old)\nBuffer length: 3.800 sec\n"]; +"link_1" -> "link_2"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.000 Hz\nMost recent transform: 486.786 ( 0.016 sec old)\nBuffer length: 3.820 sec\n"]; +"link_2" -> "link_3"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.000 Hz\nMost recent transform: 486.786 ( 0.016 sec old)\nBuffer length: 3.820 sec\n"]; +"link_3" -> "link_4"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.000 Hz\nMost recent transform: 486.786 ( 0.016 sec old)\nBuffer length: 3.820 sec\n"]; +"link_5" -> "link_6"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.000 Hz\nMost recent transform: 486.786 ( 0.016 sec old)\nBuffer length: 3.820 sec\n"]; +"link_4" -> "link_5"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.263 Hz\nMost recent transform: 487.283 ( -0.481 sec old)\nBuffer length: 3.800 sec\n"]; +"link_5" -> "link_7"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.000 Hz\nMost recent transform: 486.786 ( 0.016 sec old)\nBuffer length: 3.820 sec\n"]; +"base_link" -> "wheel_left_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.183 Hz\nMost recent transform: 486.795 ( 0.007 sec old)\nBuffer length: 3.826 sec\n"]; +"base_footprint" -> "base_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.263 Hz\nMost recent transform: 487.283 ( -0.481 sec old)\nBuffer length: 3.800 sec\n"]; +"base_link" -> "wheel_right_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.183 Hz\nMost recent transform: 486.795 ( 0.007 sec old)\nBuffer length: 3.826 sec\n"]; +"base_link" -> "plate_top_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.263 Hz\nMost recent transform: 487.283 ( -0.481 sec old)\nBuffer length: 3.800 sec\n"]; +"camera_rgb_frame" -> "camera_depth_frame"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.263 Hz\nMost recent transform: 487.283 ( -0.481 sec old)\nBuffer length: 3.800 sec\n"]; +"base_link" -> "camera_rgb_frame"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.263 Hz\nMost recent transform: 487.283 ( -0.481 sec old)\nBuffer length: 3.800 sec\n"]; +"camera_depth_frame" -> "camera_depth_optical_frame"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.263 Hz\nMost recent transform: 487.283 ( -0.481 sec old)\nBuffer length: 3.800 sec\n"]; +"camera_rgb_frame" -> "camera_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.263 Hz\nMost recent transform: 487.283 ( -0.481 sec old)\nBuffer length: 3.800 sec\n"]; +"camera_rgb_frame" -> "camera_rgb_optical_frame"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.263 Hz\nMost recent transform: 487.283 ( -0.481 sec old)\nBuffer length: 3.800 sec\n"]; +"base_link" -> "caster_back_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.263 Hz\nMost recent transform: 487.283 ( -0.481 sec old)\nBuffer length: 3.800 sec\n"]; +"base_link" -> "caster_front_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.263 Hz\nMost recent transform: 487.283 ( -0.481 sec old)\nBuffer length: 3.800 sec\n"]; +"base_link" -> "cliff_sensor_front_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.263 Hz\nMost recent transform: 487.283 ( -0.481 sec old)\nBuffer length: 3.800 sec\n"]; +"base_link" -> "cliff_sensor_left_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.263 Hz\nMost recent transform: 487.283 ( -0.481 sec old)\nBuffer length: 3.800 sec\n"]; +"base_link" -> "cliff_sensor_right_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.263 Hz\nMost recent transform: 487.283 ( -0.481 sec old)\nBuffer length: 3.800 sec\n"]; +"base_link" -> "gyro_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.263 Hz\nMost recent transform: 487.283 ( -0.481 sec old)\nBuffer length: 3.800 sec\n"]; +"base_link" -> "plate_bottom_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.263 Hz\nMost recent transform: 487.283 ( -0.481 sec old)\nBuffer length: 3.800 sec\n"]; +"base_link" -> "plate_middle_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.263 Hz\nMost recent transform: 487.283 ( -0.481 sec old)\nBuffer length: 3.800 sec\n"]; +"base_link" -> "pole_bottom_0_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.263 Hz\nMost recent transform: 487.283 ( -0.481 sec old)\nBuffer length: 3.800 sec\n"]; +"base_link" -> "pole_bottom_1_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.263 Hz\nMost recent transform: 487.283 ( -0.481 sec old)\nBuffer length: 3.800 sec\n"]; +"base_link" -> "pole_bottom_2_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.263 Hz\nMost recent transform: 487.283 ( -0.481 sec old)\nBuffer length: 3.800 sec\n"]; +"base_link" -> "pole_bottom_3_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.263 Hz\nMost recent transform: 487.283 ( -0.481 sec old)\nBuffer length: 3.800 sec\n"]; +"base_link" -> "pole_bottom_4_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.263 Hz\nMost recent transform: 487.283 ( -0.481 sec old)\nBuffer length: 3.800 sec\n"]; +"base_link" -> "pole_bottom_5_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.263 Hz\nMost recent transform: 487.283 ( -0.481 sec old)\nBuffer length: 3.800 sec\n"]; +"base_link" -> "pole_kinect_0_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.263 Hz\nMost recent transform: 487.283 ( -0.481 sec old)\nBuffer length: 3.800 sec\n"]; +"base_link" -> "pole_kinect_1_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.263 Hz\nMost recent transform: 487.283 ( -0.481 sec old)\nBuffer length: 3.800 sec\n"]; +"base_link" -> "pole_middle_0_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.263 Hz\nMost recent transform: 487.283 ( -0.481 sec old)\nBuffer length: 3.800 sec\n"]; +"base_link" -> "pole_middle_1_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.263 Hz\nMost recent transform: 487.283 ( -0.481 sec old)\nBuffer length: 3.800 sec\n"]; +"base_link" -> "pole_middle_2_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.263 Hz\nMost recent transform: 487.283 ( -0.481 sec old)\nBuffer length: 3.800 sec\n"]; +"base_link" -> "pole_middle_3_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.263 Hz\nMost recent transform: 487.283 ( -0.481 sec old)\nBuffer length: 3.800 sec\n"]; +"base_link" -> "pole_top_0_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.263 Hz\nMost recent transform: 487.283 ( -0.481 sec old)\nBuffer length: 3.800 sec\n"]; +"base_link" -> "pole_top_1_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.263 Hz\nMost recent transform: 487.283 ( -0.481 sec old)\nBuffer length: 3.800 sec\n"]; +"base_link" -> "pole_top_2_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.263 Hz\nMost recent transform: 487.283 ( -0.481 sec old)\nBuffer length: 3.800 sec\n"]; +"base_link" -> "pole_top_3_link"[label="Broadcaster: /robot_state_publisher\nAverage rate: 50.263 Hz\nMost recent transform: 487.283 ( -0.481 sec old)\nBuffer length: 3.800 sec\n"]; edge [style=invis]; subgraph cluster_legend { style=bold; color=black; label ="view_frames Result"; -"Recorded at time: 1434138819.434"[ shape=plaintext ] ; +"Recorded at time: 486.802"[ shape=plaintext ] ; }->"odom"; } \ No newline at end of file diff --git a/phantomx_arm_turtlebot_moveit_config/launch/frames.pdf b/phantomx_arm_turtlebot_moveit_config/launch/frames.pdf index fb60bee..4f34488 100644 Binary files a/phantomx_arm_turtlebot_moveit_config/launch/frames.pdf and b/phantomx_arm_turtlebot_moveit_config/launch/frames.pdf differ diff --git a/phantomx_arm_turtlebot_moveit_config/launch/gazeboArmController.launch b/phantomx_arm_turtlebot_moveit_config/launch/gazeboArmController.launch index 166d1bf..19dc96e 100644 --- a/phantomx_arm_turtlebot_moveit_config/launch/gazeboArmController.launch +++ b/phantomx_arm_turtlebot_moveit_config/launch/gazeboArmController.launch @@ -1,18 +1,15 @@ - + - - + arm_controller + gripper_controller_right + gripper_controller_left"/> + diff --git a/phantomx_arm_turtlebot_moveit_config/launch/gazeboPhantomX.launch b/phantomx_arm_turtlebot_moveit_config/launch/gazeboPhantomX.launch index 6e92e30..d971760 100644 --- a/phantomx_arm_turtlebot_moveit_config/launch/gazeboPhantomX.launch +++ b/phantomx_arm_turtlebot_moveit_config/launch/gazeboPhantomX.launch @@ -25,8 +25,37 @@ + + + + args="-x 3.775 -y 3.66 -z 0 -Y -80.1 -urdf -model phantomx_arm -param robot_description"/> + + + + + + + + + + + + + + + + + + + + + + + + - + diff --git a/phantomx_arm_turtlebot_moveit_config/launch/kinematicSolver.launch b/phantomx_arm_turtlebot_moveit_config/launch/kinematicSolver.launch index 85ce541..a4e0ca7 100644 --- a/phantomx_arm_turtlebot_moveit_config/launch/kinematicSolver.launch +++ b/phantomx_arm_turtlebot_moveit_config/launch/kinematicSolver.launch @@ -4,8 +4,14 @@ - + + + + + + + diff --git a/phantomx_arm_turtlebot_moveit_config/launch/pickANDplace.launch b/phantomx_arm_turtlebot_moveit_config/launch/pickANDplace.launch new file mode 100644 index 0000000..38bdb0e --- /dev/null +++ b/phantomx_arm_turtlebot_moveit_config/launch/pickANDplace.launch @@ -0,0 +1,11 @@ + + + + + + + + + + + diff --git a/phantomx_arm_turtlebot_moveit_config/launch/tf_Launch/test.launch b/phantomx_arm_turtlebot_moveit_config/launch/tf_Launch/test.launch new file mode 100644 index 0000000..6619410 --- /dev/null +++ b/phantomx_arm_turtlebot_moveit_config/launch/tf_Launch/test.launch @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + [/joint_states] + + + + + + + diff --git a/phantomx_arm_turtlebot_moveit_config/src/Gazebo_Plugins/gazebo_ros_phantomx_grasp_hack.cc b/phantomx_arm_turtlebot_moveit_config/src/Gazebo_Plugins/gazebo_ros_phantomx_grasp_hack.cc new file mode 100644 index 0000000..019a0e8 --- /dev/null +++ b/phantomx_arm_turtlebot_moveit_config/src/Gazebo_Plugins/gazebo_ros_phantomx_grasp_hack.cc @@ -0,0 +1,148 @@ +#include +#include +#include +#include +#include + +namespace gazebo +{ + class grasp_hack : public ModelPlugin + { + public: void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/) + { + + //printf("Hello World!\nHello World\nHello World!!!!!!!!!!!!!!!!!!!!"); + + // Store the pointer to the model + this->model = _parent; + this->flag = false; + + // Listen to the update event. This event is broadcast every + // simulation iteration. + this->updateConnection = event::Events::ConnectWorldUpdateBegin( + boost::bind(&grasp_hack::OnUpdate, this, _1)); + } + + // Called by the world update start event + public: void OnUpdate(const common::UpdateInfo & /*_info*/) + { + + math::Pose _pose; + + // Remember to update the Model Count or else Gazebo will crash + if(this->model->GetWorld()->GetModelCount() == 10 && this->flag == false) + { + const std::string &_nameModel = "phantomx_arm"; + this->phantomxModel = this->model->GetWorld()->GetModel(_nameModel); + const std::string &_name = "cube_1"; + this->cube_1 = this->model->GetLink(_name); + const std::string &_name1 = "link_7"; + this->link_5 = this->phantomxModel->GetLink(_name1); + this->flag = true; + + const std::string &cube_2 = "Cube_2"; + this->cube_2 = this->model->GetWorld()->GetModel(cube_2); + const std::string &_name2 = "cube_2"; + this->cube_2_ptr = this->cube_2->GetLink(_name2); + + _pose.Set(4.54, 4.0, 0.9, 0.0, 0.0, 0.0); + this->cube_2_ptr->SetWorldPose(_pose); + this->increment = 4.54; + + } + + + //printf("Model Count: %d\n", this->model->GetWorld()->GetModelCount()); + + //printf("Hello World!\nHello World\nHello World!!!!!!!!!!!!!!!!!!!!"); + + // Apply a small linear velocity to the model. + //this->model->SetLinearVel(math::Vector3(-.03, 0, 0)); + // create the joint for the given model + + math::Vector3 axis; + + bool asdf = false; + if(flag == true) + { + //this->increment = this->increment + 0.0001; + _pose.Set(this->link_5->GetWorldPose().pos.x, this->link_5->GetWorldPose().pos.y, this->link_5->GetWorldPose().pos.z, 0.0, 0.0, 0.0); + this->cube_1->SetWorldPose(_pose); + + //printf("For LINK_6 ---> X Pos: %f Y Pos: %f Z Pos: %f\n", this->link_5->GetWorldPose().pos.x, this->link_5->GetWorldPose().pos.y, this->link_5->GetWorldPose().pos.z); + //printf("For CUBE ---> X Pos: %f Y Pos: %f Z Pos: %f\n", this->cube_1->GetWorldPose().pos.x, this->cube_1->GetWorldPose().pos.y, this->cube_1->GetWorldPose().pos.z); + } + //if(asdf == true) + //printf("sdfa\n"); + + + + } + + private: bool checkCollision() + { + physics::LinkPtr _Link; + + std::vector _contact; + + //_Link = NULL; + printf("Hello World!\nHello World\nHello World!!!!!!!!!!!!!!!!!!!! ---> %d\n", this->phantomxModel->GetWorld()->GetPhysicsEngine()->GetContactManager()->GetContactCount()); + + if(this->phantomxModel->GetWorld()->GetPhysicsEngine()->GetContactManager()->GetContactCount() > 0) + { + printf("Hello World!\nHello World\nHello World!!!!!!!!!!!!!!!!!!!!"); + + for(int i=0; iphantomxModel->GetWorld()->GetPhysicsEngine()->GetContactManager()->GetContactCount(); i++) + { + if(this->phantomxModel->GetWorld()->GetPhysicsEngine()->GetContactManager()->GetContact(i)->collision1->GetLink() == this->cube_1) + { + _Link = this->model->GetWorld()->GetPhysicsEngine()->GetContactManager()->GetContact(i)->collision1->GetLink(); + printf("Hello World!\nHello World\nHello World!!!!!!!!!!!!!!!!!!!! --------> %d \n", i); + + } + } + + } + + if(_Link == this->cube_1) + { + return true; + } + else + { + return false; + } + } + + private: bool flag; + + private: double increment; + + // Pointer to the Cube model + private: physics::ModelPtr model; + + // Pointer to the Phantomx model + private: physics::ModelPtr phantomxModel; + + // Pointer to the Phantomx model + private: physics::ModelPtr cube_2; + + // Pointer to the New model + private: physics::JointPtr myJoint; + + // Pointer to the Phantomx link + private: physics::LinkPtr link_5; + + // Pointer to the Cube model + private: physics::LinkPtr cube_1; + + // Pointer to the Cube model + private: physics::LinkPtr cube_2_ptr; + + // Pointer to the update event connection + private: event::ConnectionPtr updateConnection; + }; + + // Register this plugin with the simulator + GZ_REGISTER_MODEL_PLUGIN(grasp_hack) +} diff --git a/phantomx_arm_turtlebot_moveit_config/src/Gazebo_Plugins/hello_world.cc b/phantomx_arm_turtlebot_moveit_config/src/Gazebo_Plugins/hello_world.cc new file mode 100644 index 0000000..5bdcff0 --- /dev/null +++ b/phantomx_arm_turtlebot_moveit_config/src/Gazebo_Plugins/hello_world.cc @@ -0,0 +1,17 @@ +#include + +namespace gazebo +{ + class WorldPluginTutorial : public WorldPlugin + { + public: WorldPluginTutorial() : WorldPlugin() + { + printf("Hello World!\n"); + } + + public: void Load(physics::WorldPtr _world, sdf::ElementPtr _sdf) + { + } + }; + GZ_REGISTER_WORLD_PLUGIN(WorldPluginTutorial) +} diff --git a/phantomx_arm_turtlebot_moveit_config/src/PicknPlace/nodes/jointStateSubscriber.cpp b/phantomx_arm_turtlebot_moveit_config/src/PicknPlace/nodes/jointStateSubscriber.cpp new file mode 100644 index 0000000..22f6dda --- /dev/null +++ b/phantomx_arm_turtlebot_moveit_config/src/PicknPlace/nodes/jointStateSubscriber.cpp @@ -0,0 +1,37 @@ +#include + +#include + +#include +#include +#include + +#include +#include +#include + +#include +#include + +jointStateSubscriber::jointStateSubscriber(ros::NodeHandle node_handle) +{ + ROS_INFO("Creating Joint States subscriber Object.. \n"); + jointState_topic = "/joint_states"; + + joints = node_handle.subscribe(jointState_topic, 1000, &jointStateSubscriber::getJointStates, this); +} + +void jointStateSubscriber::getJointStates(const sensor_msgs::JointStatePtr& msg) +{ + if(flag == true) + { + for(int jointList=0; jointList < msg->name.size(); jointList++) + { + curr_joint_values[msg->name[jointList]] = msg->position[jointList]; + ROS_INFO("Receiving [Joint] %s -> %f ", msg->name[jointList].c_str(), msg->position[jointList]); + } + flag = false; + } + + return; +} diff --git a/phantomx_arm_turtlebot_moveit_config/src/PicknPlace/nodes/jointStateSubscriber.h b/phantomx_arm_turtlebot_moveit_config/src/PicknPlace/nodes/jointStateSubscriber.h new file mode 100644 index 0000000..85aa6f0 --- /dev/null +++ b/phantomx_arm_turtlebot_moveit_config/src/PicknPlace/nodes/jointStateSubscriber.h @@ -0,0 +1,31 @@ +#include + +#include + +#include +#include +#include + +#include +#include +#include + +#include +#include + +// In order to keep a good structure and not mess with the Boost bindings we create a separate class for jointStateSubscriber +class jointStateSubscriber +{ + public: + + // Class variables + string jointState_topic; + ros::Subscriber joints; + + // Constructor + jointStateSubscriber(ros::NodeHandle node_handle); + + //Member Functions + void getJointStates(const sensor_msgs::JointStatePtr& msg); + +}; diff --git a/phantomx_arm_turtlebot_moveit_config/src/PicknPlace/nodes/pickANDplace.cpp b/phantomx_arm_turtlebot_moveit_config/src/PicknPlace/nodes/pickANDplace.cpp new file mode 100644 index 0000000..15b82c8 --- /dev/null +++ b/phantomx_arm_turtlebot_moveit_config/src/PicknPlace/nodes/pickANDplace.cpp @@ -0,0 +1,389 @@ +#include "pickANDplace.h" + +#include + +#include +#include "std_msgs/Float64.h" + +#include +#include +#include + +#include +#include +#include + +#include +#include + +using namespace picknplace; + +pickANDplace::pickANDplace() +{ + ROS_INFO("Creating Pick and Place Object.. \n"); + + referenceFrame = "/odom"; + armPublisher_topic = "/Maulesh/phantomx_arm/arm_controller/follow_joint_trajectory/goal"; + gripperPublisher_topic = "/Maulesh/phantomx_arm/joint_5/command"; + jointState_topic = "/Maulesh/phantomx_arm/joint_states"; + + flag = true; + execution = true; + max_trial = 5; + isSimulation = false; +} + +pickANDplace::~pickANDplace() +{ + ROS_INFO("Deleting Pick and Place Object.. \n"); +} + +bool pickANDplace::checkIK(std::vector goalPose, ros::NodeHandle node_handle, int count) +{ + ros::WallDuration sleep_time(2.0); + sleep_time.sleep(); + + // Load the robot_description model onto the param server + robot_model_loader::RobotModelLoader robot_model_loader("robot_description"); + + // Create a holder for the Kinematic Model + robot_model::RobotModelPtr kinematic_model = robot_model_loader.getModel(); + ROS_INFO("Model Frame: %s", kinematic_model->getModelFrame().c_str()); + + // Create a handle for the Robot State + // Representation of a robot's state. This includes position, velocity, acceleration and effort. + robot_state::RobotStatePtr kinematic_state(new robot_state::RobotState(kinematic_model)); + + // Set the Joint positions for our kinematic state + kinematic_state->setJointPositions("joint_1", & curr_joint_values["joint_1"]); + kinematic_state->setJointPositions("joint_2", & curr_joint_values["joint_2"]); + kinematic_state->setJointPositions("joint_3", & curr_joint_values["joint_3"]); + kinematic_state->setJointPositions("joint_4", & curr_joint_values["joint_4"]); + + // Define the Joint Model group for the 'arm' and store the Joints[_name et all] + const robot_state::JointModelGroup* joint_model_group = kinematic_model->getJointModelGroup("arm"); + const std::vector &joint_names = joint_model_group->getJointModelNames(); + + // Get Joint Values + // Retreive the current set of joint values stored in the kinematic [robot]state for the arm + std::vector joint_values; + kinematic_state->copyJointGroupPositions(joint_model_group, joint_values); + + // Define a JointTrajectoryPoint to be sent as an action goal for the IK + trajectory_msgs::JointTrajectoryPoint currPoint; + currPoint.time_from_start = ros::Duration(0.1); + + // Begin ROS Time + ros::Time begin = ros::Time::now(); + + // Fill in the details about the FollowJointTrajectoryActionGoal which will be used by the IK Solver + action.header.stamp = begin; + action.goal_id.stamp = begin; + //action.goal_id.id = "/move_phantomx_arm-"; + double sec = begin.sec + begin.nsec/10000000.0; + + char buffer[256]; + std::snprintf(buffer, sizeof(buffer), "/move_phantomx_arm-%g", sec); + + action.goal_id.id = string(buffer); + action.goal.trajectory.header.frame_id = referenceFrame; + + // Clear past Action Goals from the vector + action.goal.trajectory.points.clear(); + action.goal.trajectory.joint_names.clear(); + + for(std::size_t i=0; i < joint_names.size()-2; ++i) + { + currPoint.positions.push_back(joint_values[i]); + /* Optionally set Velocities and Accelarations for the Motion Planing + point.velocities.push_back(1); + point.accelerations.push_back(1); */ + + action.goal.trajectory.joint_names.push_back(joint_names[i+1]); + } + action.goal.trajectory.points.push_back(currPoint); + + /* Joint Limits + setJointGroupPositions() does not enforce joint limits by itself, but a call to enforceBounds() will do it. + Set one joint in the right arm outside its joint limit */ + joint_values[0] = 1.57; + kinematic_state->setJointGroupPositions(joint_model_group, joint_values); + + // Check whether any joint is outside its joint limits + ROS_INFO_STREAM("Current state is " << (kinematic_state->satisfiesBounds() ? "valid" : "not valid")); + + // Enforce the joint limits for this state and check again + kinematic_state->enforceBounds(); + ROS_INFO_STREAM("Current state [after enforcing bounds] is " << (kinematic_state->satisfiesBounds() ? "valid" : "not valid")); + + // Set the Robot State to random positions in the joint model group + kinematic_state->setToRandomPositions(joint_model_group); + + // Define the end_effector_state as an Eigen Matrix + Eigen::Affine3d end_effector_state = Eigen::Transform::Identity(); + + // Initialize the end_effector_state by the Goal State co-ordinates + end_effector_state *= Eigen::Translation(goalPose[0], goalPose[1], goalPose[2]); + + // Define a Geomatric pose and initialize it with zeros + geometry_msgs::Pose pose; + + pose.position.x = 0.0; + pose.position.y = 0.0; + pose.position.z = 0.0; + pose.orientation.x = 0.0; + pose.orientation.y = 0.0; + pose.orientation.z = 0.0; + pose.orientation.w = 0.0; + + geometry_msgs::Pose &pose_1 = pose; + + // Convert the end_effector_state from an Eigen Pose to a Geomatric message + tf::poseEigenToMsg(end_effector_state, pose_1); + + // Print end-effector pose. Remember that this is in the model frame + ROS_INFO_STREAM("\nTranslation Matrix: " << end_effector_state.translation()); + ROS_INFO_STREAM("\nRotation Matrix: \n" << end_effector_state.rotation() << "\n"); + + ROS_INFO_STREAM("Translation in X: " << pose.position.x); + ROS_INFO_STREAM("Translation in Y: " << pose.position.y); + ROS_INFO_STREAM("Translation in Z: " << pose.position.z); + + ROS_INFO_STREAM("Rotation in W: " << pose.orientation.w); + ROS_INFO_STREAM("Rotation in X: " << pose.orientation.x); + ROS_INFO_STREAM("Rotation in Y: " << pose.orientation.y); + ROS_INFO_STREAM("Rotation in Z: " << pose.orientation.z); + + // Look for an IK Solution in our Joint Model Group for the end_effector_state Goal State + bool found_ik = kinematic_state->setFromIK(joint_model_group, end_effector_state, 10, 0.1); + + // In case of failure, keep looking for a solution for a specific number of trials + if(found_ik == false && count " << count << "]\n"); + //found_ik = kinematic_state->setFromIK(joint_model_group, end_effector_state, 10, 0.1); + + checkIK(goalPose, node_handle, count); + } + + // Now, we can print out the IK solution (if found): + if (found_ik) + { + ROS_INFO("Congratulations!! We have found an IK Solution for the Goal State.."); + ROS_INFO("Goal State Joint Values are as follows: "); + + // Copy the Joint Group positions for the Goal State + kinematic_state->copyJointGroupPositions(joint_model_group, joint_values); + for(std::size_t i=0; i < joint_names.size(); ++i) + { + ROS_INFO("Joint Name %s: Value: %f", joint_names[i].c_str(), joint_values[i]); + } + + // We can also get the Jacobian from the :moveit_core:`RobotState`. + Eigen::Vector3d reference_point_position(0.0,0.0,0.0); + Eigen::MatrixXd jacobian; + + kinematic_state->getJacobian(joint_model_group, kinematic_state->getLinkModel(joint_model_group->getLinkModelNames().back()),reference_point_position,jacobian); + ROS_INFO_STREAM("\nJacobian Matrix: \n" << jacobian); + + // Define a point for representing the Goal State for the robot + trajectory_msgs::JointTrajectoryPoint point; + + // Initialize a time_from_start for moveit to kick-start Motion Planning + point.time_from_start = ros::Duration(1.0); + + // Fill up the Joint Group positions for this point[Goal State] + for(std::size_t i=0; i < joint_names.size()-2; ++i) + { + point.positions.push_back(joint_values[i]); + + /* Optionally set Velocities and Accelarations for the Motion Planing + point.velocities.push_back(1); + point.accelerations.push_back(1); */ + } + + // Push the Goal State in our FollowJointTrajectoryActionGoal Variable + action.goal.trajectory.points.push_back(point); + + sleep_time.sleep(); + } + + if(found_ik == false && count>=max_trial) + { + ROS_INFO("Sorry, Did not find IK solution.."); + } + + if(found_ik == true && count>=max_trial) + return true; + + else + return false; +} + +// Check to see if you will need to start the spinner here or in the Trial.. If in the Trial, then do you need to define the subscribers/publishers there and pass it here? +bool pickANDplace::execute(std::vector goalPose, ros::NodeHandle node_handle) +{ + ros::AsyncSpinner spinner(1); + spinner.start(); + + joints = node_handle.subscribe(jointState_topic, 1000, &pickANDplace::getJointStates, this); + + // Create a coutner to check for an IK in case of failure + int count = 0; + + bool IK = false; + + // Check if an IK Solution exists for the Goal State + IK = checkIK(goalPose, node_handle, count); + + return IK; +} + +bool pickANDplace::pick(ros::NodeHandle node_handle) +{ + ros::WallDuration sleep_time(0.0); + sleep_time.sleep(); + + joints = node_handle.subscribe(jointState_topic, 1000, &pickANDplace::getJointStates, this); + + // Define 'arm' and 'gripper' control ROS publishers + arm_publisher = node_handle.advertise(armPublisher_topic, 1, true); + + // Publish Joint Commands on the arm_publisher from the planned trajectory + + arm_publisher.publish(action); + sleep_time.sleep(); + + return true; +} + +bool pickANDplace::place(ros::NodeHandle node_handle) +{ + ros::WallDuration sleep_time(0.0); + sleep_time.sleep(); + + joints = node_handle.subscribe(jointState_topic, 1000, &pickANDplace::getJointStates, this); + + // Define 'arm' and 'gripper' control ROS publishers + arm_publisher = node_handle.advertise(gripperPublisher_topic, 1000); + + // Publish Joint Commands on the arm_publisher from the planned trajectory + arm_publisher.publish(action); + sleep_time.sleep(); + + return true; +} + +bool pickANDplace::grasp(ros::NodeHandle node_handle, double msg) +{ + ros::WallDuration sleep_time(0.0); + sleep_time.sleep(); + + joints = node_handle.subscribe(jointState_topic, 1000, &pickANDplace::getJointStates, this); + + // Define 'gripper' control ROS publishers + gripper_publisher = node_handle.advertise(gripperPublisher_topic, 1, true); + + // Publish Joint Commands on the gripper_publisher from the planned trajectory + sleep_time.sleep(); + std_msgs::Float64 grip; + grip.data = msg; + gripper_publisher.publish(grip); + + return true; +} + +void pickANDplace::getJointStates(const sensor_msgs::JointStatePtr& msg) +{ + // Empty the Map container + curr_joint_values.clear(); + + for(int jointList=0; jointList < msg->name.size(); jointList++) + { + curr_joint_values[msg->name[jointList]] = msg->position[jointList]; + // ROS_INFO("Receiving [Joint] %s -> %f ", msg->name[jointList].c_str(), msg->position[jointList]); + } + + return; +} + +string pickANDplace::getReferenceFrame() +{ + return referenceFrame; +} + +std::vector pickANDplace::getRestPosition() +{ + return rest_coordinates; +} + +std::vector pickANDplace::getHandlePosition() +{ + return handle_coordinates; +} + +std::vector pickANDplace::getPickUpLoc() +{ + return pickup_coordinates; +} + +std::vector pickANDplace::getPlaceLoc() +{ + return place_coordinates; +} + +void pickANDplace::setObjectID(string id) +{ + objectID = id; +} + +void pickANDplace::setObjectThickness(double thickness) +{ + objectThickness = thickness; +} + +void pickANDplace::setSimulation(bool sim_status) +{ + isSimulation = sim_status; +} + +void pickANDplace::setGripperOpenLimit(double gripperOpen_Limit) +{ + gripper_open = gripperOpen_Limit; +} + +void pickANDplace::setGripperGraspLimit(double gripperGrasp_Limit) +{ + gripper_grasp = gripperGrasp_Limit; +} + +void pickANDplace::setGripperCloseLimit(double gripperClose_Limit) +{ + gripper_close = gripperClose_Limit; +} + +void pickANDplace::setReferenceFrame(string ref) +{ + referenceFrame = ref; +} + +void pickANDplace::setRestPosition(std::vector rest) +{ + rest_coordinates = rest; +} + +void pickANDplace::setHandlePosition(std::vector handle) +{ + handle_coordinates = handle; +} + +void pickANDplace::setPickUpLoc(std::vector pickup) +{ + pickup_coordinates = pickup; +} + +void pickANDplace::setPlaceLoc(std::vector place) +{ + place_coordinates = place; +} \ No newline at end of file diff --git a/phantomx_arm_turtlebot_moveit_config/src/PicknPlace/nodes/pickANDplace.h b/phantomx_arm_turtlebot_moveit_config/src/PicknPlace/nodes/pickANDplace.h new file mode 100644 index 0000000..85538da --- /dev/null +++ b/phantomx_arm_turtlebot_moveit_config/src/PicknPlace/nodes/pickANDplace.h @@ -0,0 +1,100 @@ +#ifndef PICKANDPLACE_H +#define PICKANDPLACE_H + +#include + +#include +#include "std_msgs/Float64.h" + +#include +#include +#include + +#include +#include +#include + +#include +#include + +namespace picknplace +{ + using namespace std; + + class pickANDplace + { + public: + + // Class variables + ros::Subscriber joints; + ros::Publisher arm_publisher; + ros::Publisher gripper_publisher; + + string objectID; + double objectThickness; + + double gripper_open; + double gripper_grasp; + double gripper_close; + + bool flag; + bool execution; + bool isSimulation; + + std::vector rest_coordinates; + std::vector handle_coordinates; + std::vector pickup_coordinates; + std::vector place_coordinates; + + std::map curr_joint_values; + + string referenceFrame; + string armPublisher_topic; + string gripperPublisher_topic; + string jointState_topic; + + int max_trial; + + control_msgs::FollowJointTrajectoryActionGoal action; + + // Constructor/Destructor + pickANDplace(); + ~pickANDplace(); + + // Member Functions + void setObjectID(string id); + void setReferenceFrame(string ref); + void setObjectThickness(double thickness); + void setSimulation(bool sim_status); + + void setGripperOpenLimit(double gripperOpen_Limit); + void setGripperGraspLimit(double gripperGrasp_Limit); + void setGripperCloseLimit(double gripperClose_Limit); + + void setRestPosition(std::vector rest); + void setHandlePosition(std::vector handle); + void setPickUpLoc(std::vector pickup); + void setPlaceLoc(std::vector place); + + void getJointStates(const sensor_msgs::JointStatePtr& msg); + + string getReferenceFrame(); + + std::vector getRestPosition(); + std::vector getHandlePosition(); + std::vector getPickUpLoc(); + std::vector getPlaceLoc(); + + bool checkIK(std::vector goalPose, ros::NodeHandle node_handle, int count); + bool execute(std::vector goalPose, ros::NodeHandle node_handle); // Go to Rest --> Open --> Pick Up --> Grasp --> Go to Handle --> Place --> Open --> Go to Rest --> Close + + bool pick(ros::NodeHandle node_handle); + bool place(ros::NodeHandle node_handle); + bool grasp(ros::NodeHandle node_handle, double msg); + bool open(ros::NodeHandle node_handle); + bool close(ros::NodeHandle node_handle); + + }; +} + +#endif \ No newline at end of file diff --git a/phantomx_arm_turtlebot_moveit_config/src/PicknPlace/tasks/pickANDplace_trial.cpp b/phantomx_arm_turtlebot_moveit_config/src/PicknPlace/tasks/pickANDplace_trial.cpp new file mode 100644 index 0000000..5dfb0e3 --- /dev/null +++ b/phantomx_arm_turtlebot_moveit_config/src/PicknPlace/tasks/pickANDplace_trial.cpp @@ -0,0 +1,84 @@ +#include "../nodes/pickANDplace.h" + +#include + +#include + +#include +#include +#include + +#include +#include +#include + +#include +#include + +using namespace std; +using namespace picknplace; + +int main(int argc, char **argv) +{ + ros::init (argc, argv, "pickANDplace"); + ros::NodeHandle node_handle("~"); + + pickANDplace test; + + double msg = -1.5; + + //std::vector pickup_coordinates; + test.rest_coordinates.push_back(0.067); + test.rest_coordinates.push_back(0.0); + test.rest_coordinates.push_back(0.82); + + test.pickup_coordinates.push_back(0.330); + test.pickup_coordinates.push_back(0.001); + test.pickup_coordinates.push_back(0.435); + + test.place_coordinates.push_back(0.330); + test.place_coordinates.push_back(0.001); + test.place_coordinates.push_back(0.435); + + for(int i=0;i<5;i++) + { + /*test.execution = test.execute(test.getPickUpLoc(), node_handle); + test.pick(node_handle); + if(test.execution == false) + ROS_INFO_STREAM("\nIK TESTINGGGGG: " << test.execution << "\n"); + msg = -1.5; + test.grasp(node_handle, msg);*/ + + test.rest_coordinates.clear(); + //std::vector rest_coordinates; + test.rest_coordinates.push_back(0.125); + test.rest_coordinates.push_back(0.001); + test.rest_coordinates.push_back(0.657); + + test.execution = test.execute(test.getRestPosition(), node_handle); + test.pick(node_handle); + if(test.execution == false) + ROS_INFO_STREAM("\nIK TESTINGGGGG: " << test.execution << "\n"); + + test.execution = test.execute(test.getPlaceLoc(), node_handle); + test.pick(node_handle); + if(test.execution == false) + ROS_INFO_STREAM("\nIK TESTINGGGGG: " << test.execution << "\n"); + msg = 0.0; + //test.grasp(node_handle, msg); + + test.execution = test.execute(test.getRestPosition(), node_handle); + test.pick(node_handle); + if(test.execution == false) + ROS_INFO_STREAM("\nIK TESTINGGGGG: " << test.execution << "\n"); + + /*test.execution = test.execute(test.getPickUpLoc(), node_handle); + test.pick(node_handle); + if(test.execution == false) + ROS_INFO_STREAM("\nIK TESTINGGGGG: " << test.execution << "\n");*/ + + test.execution = true; + } + + return 0; +} diff --git a/phantomx_arm_turtlebot_moveit_config/src/kinematicSolver.cpp b/phantomx_arm_turtlebot_moveit_config/src/kinematicSolver.cpp index bbb8bfa..61beee1 100644 --- a/phantomx_arm_turtlebot_moveit_config/src/kinematicSolver.cpp +++ b/phantomx_arm_turtlebot_moveit_config/src/kinematicSolver.cpp @@ -12,6 +12,7 @@ #include #include +// TODO Get IK to run on Gazebo and Physical Robot (it works with RViz) using Planning Scene Interface -- It is a much more robust interface for MoveIt IK and Motion Planning using namespace std; std::map curr_joint_values; @@ -19,31 +20,42 @@ bool flag = true; void getJointStates(const sensor_msgs::JointStatePtr& msg) { - if(flag == true) + for(int jointList=0; jointList < msg->name.size(); jointList++) { - for(int jointList=0; jointList < msg->name.size(); jointList++) - { - curr_joint_values[msg->name[jointList]] = msg->position[jointList]; - ROS_INFO("RECEIVE %s -> %f ", msg->name[jointList].c_str(), msg->position[jointList]); - } - flag = false; + curr_joint_values[msg->name[jointList]] = msg->position[jointList]; + //ROS_INFO("RECEIVE %s -> %f ", msg->name[jointList].c_str(), msg->position[jointList]); } - + //flag = false; + return; } -int main(int argc, char **argv) +int main(int argc, char *argv[]) { + + cout << "Starting ROS Node: " << argv[ 0 ] + << "\nSolving IK for the Pick Up Location: [ "; + + std::vector pickup_coordinates; + + for (int n = 1; n <= 3; n++) + { + double loc = atof(argv[ n ]); + cout << argv[ n ] << " "; + pickup_coordinates.push_back(loc); + } + cout << "]\n"; + ros::init (argc, argv, "kinematicSolver"); ros::NodeHandle node_handle("~"); - ros::Publisher arm_publisher = node_handle.advertise("/arm_controller/follow_joint_trajectory/goal", 1, true); + ros::Publisher arm_publisher = node_handle.advertise("/Maulesh/phantomx_arm/arm_controller/follow_joint_trajectory/goal", 1, true); - ros::Subscriber joints = node_handle.subscribe("/joint_states", 1000, getJointStates); + ros::Subscriber joints = node_handle.subscribe("/Maulesh/phantomx_arm/joint_states", 1000, getJointStates); ros::AsyncSpinner spinner(1); spinner.start(); - ros::WallDuration sleep_time(2.0); + ros::WallDuration sleep_time(1.0); sleep_time.sleep(); ROS_INFO("Model frame: "); @@ -81,7 +93,7 @@ int main(int argc, char **argv) control_msgs::FollowJointTrajectoryActionGoal action; trajectory_msgs::JointTrajectoryPoint currPoint; - currPoint.time_from_start = ros::Duration(0.0); + currPoint.time_from_start = ros::Duration(0.1); ros::Time begin = ros::Time::now(); @@ -93,15 +105,19 @@ int main(int argc, char **argv) //std::string timeString = std::to_string(begin.toSec()); + double sec = begin.sec + begin.nsec/10000000.0; + + char buffer[256]; + std::snprintf(buffer, sizeof(buffer), "/move_arm-1-%g", sec); - action.goal_id.id = "/move_arm-1-"; + action.goal_id.id = string(buffer); for(std::size_t i=0; i < joint_names.size()-2; ++i) { // ROS_INFO("Joint %s: %f", joint_names[i].c_str(), joint_values[i]); currPoint.positions.push_back(joint_values[i]); -// currPoint.velocities.push_back(0); -// currPoint.accelerations.push_back(1); + currPoint.velocities.push_back(0); + currPoint.accelerations.push_back(0); action.goal.trajectory.joint_names.push_back(joint_names[i+1]); } @@ -133,9 +149,15 @@ int main(int argc, char **argv) kinematic_state->setToRandomPositions(joint_model_group); // const Eigen::Affine3d &end_effector_state = kinematic_state->getGlobalLinkTransform("link_5"); +/* std::vector pickup_coordinates; + pickup_coordinates.push_back(0.326); + pickup_coordinates.push_back(0.001); + pickup_coordinates.push_back(0.457); +*/ + Eigen::Affine3d end_effector_state = Eigen::Transform::Identity(); -// end_effector_state *= Eigen::Translation(0.08,0.0,0.82); - end_effector_state *= Eigen::Translation(0.08, 0.0, 0.82); +// end_effector_state *= Eigen::Translation(0.067, 0.0, 0.82); + end_effector_state *= Eigen::Translation(pickup_coordinates[0], pickup_coordinates[1], pickup_coordinates[2]); geometry_msgs::PoseStamped pose_1; geometry_msgs::Pose pose; @@ -165,9 +187,17 @@ int main(int argc, char **argv) ROS_INFO_STREAM("Rotation Y: " << pose.orientation.y); ROS_INFO_STREAM("Rotation Z: " << pose.orientation.z); + int count=0; bool found_ik = kinematic_state->setFromIK(joint_model_group, end_effector_state, 10, 0.1); + while(found_ik == false && count<5) + { + ROS_INFO("Looking for an IK Solution!! "); + found_ik = kinematic_state->setFromIK(joint_model_group, end_effector_state, 10, 0.1); + count++; + } + // Now, we can print out the IK solution (if found): if (found_ik) { @@ -196,8 +226,8 @@ int main(int argc, char **argv) { // ROS_INFO("Joint %s: %f", joint_names[i].c_str(), joint_values[i]); point.positions.push_back(joint_values[i]); -// point.velocities.push_back(1); -// point.accelerations.push_back(1); + point.velocities.push_back(0); + point.accelerations.push_back(0); } @@ -213,11 +243,10 @@ int main(int argc, char **argv) ROS_INFO("Did not find IK solution"); } - sleep_time.sleep(); // END_TUTORIAL ros::shutdown(); return 0; -} +} \ No newline at end of file diff --git a/phantomx_arm_turtlebot_pick_and_place/CMakeLists.txt~ b/phantomx_arm_turtlebot_pick_and_place/CMakeLists.txt~ deleted file mode 100644 index 041f453..0000000 --- a/phantomx_arm_turtlebot_pick_and_place/CMakeLists.txt~ +++ /dev/null @@ -1,156 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(phantomx_arm_turtlebot_pick_and_place) - -## Find catkin macros and libraries -## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) -## is used, also find other catkin packages -find_package(catkin REQUIRED) - -## System dependencies are found with CMake's conventions -# find_package(Boost REQUIRED COMPONENTS system) - - -## Uncomment this if the package has a setup.py. This macro ensures -## modules and global scripts declared therein get installed -## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html -# catkin_python_setup() - -################################################ -## Declare ROS messages, services and actions ## -################################################ - -## To declare and build messages, services or actions from within this -## package, follow these steps: -## * Let MSG_DEP_SET be the set of packages whose message types you use in -## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). -## * In the file package.xml: -## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET -## * If MSG_DEP_SET isn't empty the following dependencies might have been -## pulled in transitively but can be declared for certainty nonetheless: -## * add a build_depend tag for "message_generation" -## * add a run_depend tag for "message_runtime" -## * In this file (CMakeLists.txt): -## * add "message_generation" and every package in MSG_DEP_SET to -## find_package(catkin REQUIRED COMPONENTS ...) -## * add "message_runtime" and every package in MSG_DEP_SET to -## catkin_package(CATKIN_DEPENDS ...) -## * uncomment the add_*_files sections below as needed -## and list every .msg/.srv/.action file to be processed -## * uncomment the generate_messages entry below -## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) - -## Generate messages in the 'msg' folder -# add_message_files( -# FILES -# Message1.msg -# Message2.msg -# ) - -## Generate services in the 'srv' folder -# add_service_files( -# FILES -# Service1.srv -# Service2.srv -# ) - -## Generate actions in the 'action' folder -# add_action_files( -# FILES -# Action1.action -# Action2.action -# ) - -## Generate added messages and services with any dependencies listed here -# generate_messages( -# DEPENDENCIES -# std_msgs # Or other packages containing msgs -# ) - -################################### -## catkin specific configuration ## -################################### -## The catkin_package macro generates cmake config files for your package -## Declare things to be passed to dependent projects -## INCLUDE_DIRS: uncomment this if you package contains header files -## LIBRARIES: libraries you create in this project that dependent projects also need -## CATKIN_DEPENDS: catkin_packages dependent projects also need -## DEPENDS: system dependencies of this project that dependent projects also need -catkin_package( -# INCLUDE_DIRS include -# LIBRARIES phantomx_arm_turtlebot_pick_and_place -# CATKIN_DEPENDS other_catkin_pkg -# DEPENDS system_lib -) - -########### -## Build ## -########### - -## Specify additional locations of header files -## Your package locations should be listed before other locations -include_directories(include) - -## Declare a cpp library -# add_library(phantomx_arm_turtlebot_pick_and_place -# src/${PROJECT_NAME}/phantomx_arm_turtlebot_pick_and_place.cpp -# ) - -## Declare a cpp executable -add_executable(phantomx_arm_turtlebot_pick_and_place_node src/nodes/pick_and_place_node.cpp) - -## Add cmake target dependencies of the executable/library -## as an example, message headers may need to be generated before nodes -# add_dependencies(phantomx_arm_turtlebot_pick_and_place_node phantomx_arm_turtlebot_pick_and_place_generate_messages_cpp) - -## Specify libraries to link a library or executable target against - target_link_libraries(phantomx_arm_turtlebot_pick_and_place_node - ${catkin_LIBRARIES} - ) - -############# -## Install ## -############# - -# all install targets should use catkin DESTINATION variables -# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html - -## Mark executable scripts (Python etc.) for installation -## in contrast to setup.py, you can choose the destination -# install(PROGRAMS -# scripts/my_python_script -# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark executables and/or libraries for installation -#install(TARGETS phantomx_arm_turtlebot_pick_and_place phantomx_arm_turtlebot_pick_and_place_node - # ARCHIVE DESTINATION ${phantomx_arm_turtlebot_pick_and_place/lib} - # LIBRARY DESTINATION ${phantomx_arm_turtlebot_pick_and_place/lib} - #RUNTIME DESTINATION ${phantomx_arm_turtlebot_pick_and_place/bin} - #) - -## Mark cpp header files for installation -# install(DIRECTORY include/${PROJECT_NAME}/ -# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} -# FILES_MATCHING PATTERN "*.h" -# PATTERN ".svn" EXCLUDE -# ) - -## Mark other files for installation (e.g. launch and bag files, etc.) -# install(FILES -# # myfile1 -# # myfile2 -# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -# ) - -############# -## Testing ## -############# - -## Add gtest based cpp test target and link libraries -# catkin_add_gtest(${PROJECT_NAME}-test test/test_phantomx_arm_turtlebot_pick_and_place.cpp) -# if(TARGET ${PROJECT_NAME}-test) -# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) -# endif() - -## Add folders to be run by python nosetests -# catkin_add_nosetests(test)