jsk_fetch_gazebo_demo

• This demo is roseus version of fetch_gazebo_demo.
• You can learn how to use roseus and how ROS components are executed. (e.g. pointcloud, navigation, motion planning, … etc)

Usage

• Build this package like jsk_fetch_startup README

mkdir -p catkin_ws/src
cd catkin_ws/src
git clone https://github.com/jsk-ros-pkg/jsk_robot.git
rosdep install --from-paths . --ignore-src -y -r
cd ..
catkin config
catkin build jsk_fetch_gazebo_demo
source devel/setup.bash

• Launch demo

source devel/setup.bash
roslaunch jsk_fetch_gazebo_demo demo.launch

NOTE

• fetch_gazebo is compatible with ROS indigo and melodic, so this repo is compatible with ROS indigo and melodic, too.
• Fetch in Gazebo9 (melodic) is somehow dark, but it seems no problem.

Demo

Start of demo

Fetch generates the costmap (blue and purple thick lines) based on the known room map. AMCL particle (red arrows) is scattered at the beginning.

Gazebo	Rviz

Move to table using navigation stacks

While fetch is moving, AMCL particle (red arrows) come together by comparing laser data (red dotted line) and room map. Navigation path (green line) is calculated based on the costmap.

Gazebo	Rviz

Recognize obstacles by pointcloud

Fetch generates collision obstacles (green blocks) based on the table and cube pointcloud.

Gazebo	Rviz

Grasp cube

Fetch solves IK, moves the arm while avoiding obstacles and grasps the blue cube.

Gazebo	Rviz