Robot-Arm motion

Robot-Arm motion is a package for controlling the rnd effector of a robot arm. Up to this point, it contains

1. trajectory generation for obstacle avoidance through a dynamical system

2. trajectory generation through a linear DS, accepting a mocap marker as a target

Lisence: GNU GPL v3

Copyright (c) 2020 Iason Batzianoulis, Learning Algorithms and Systems Laboratory (LASA), EPFL

Dependencies

• mathlinb library from here

• utils library from here

Installation

Navigate into the src folder of your ROS workspace and type in the terminal:

$git clone https://github.com/epfl-lasa/mathlib.git
$git clone https://github.com/walidAmanhoud/utils.git
$git clone https://github.com/yias/robot_arm_motion.git

Navigate back to the main folder of the caktin workspace and compile the packages

$catkin_make

Running the controllers

• For the robot to follow a mocap marker:

First, launch the mocap node:

$roslaunch robot_arm_motion mocap.launch

and then, launch the trajectory generator from another terminal:

$roslaunch robot_arm_motion markerTarget.launch

Optional (recommended) arguments:

      markerName:=hand|ball|... the name of the marker to follow as it is broadcasted from the mocap system (default: "hand")
      robotMarker:=robot_right|robot_left ... the name of the marker that corresponds to the robot base as it is broadcasted from the mocap system (default: "robot_right")
      robotName:=lwr|iiwa|franka ... the name of the robot (default:= "lwr")
      serverIP:=128.160.0.1|... the IP of the PC that runs the mocap server (Motive from Optitrack)

• For the robot to move to a target by avoiding obstacles, type:

$rosrun robot_arm_motion obstacleAvoidance

To run a simulation for the obstacle avoidance, run:

$roslaunch robot_arm_motion kuka_obstacles.launch

To run a simulation of the obstacle avoidance with a gripper, run:

$roslaunch robot_arm_motion kuka_obstacles.launch GRIPPER:=TRUE

and from another terminal, run:

$rosrun robot_arm_motion obstacleAvoidance

• For the integration with gaze-tracker and object detection (the package is in the folder gaze of the eurekaRes repo here), run:

$roslaunch robot_arm_motion gaze_obstacle_avoidance.launch

and on another terminal, run:

$rosrun robot_arm_motion obstacleAvoidance