Repository Summary
Checkout URI | https://github.com/ros-aldebaran/romeo_moveit_actions.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2017-10-23 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
Name | Version |
---|---|
romeo_moveit_actions | 0.0.8 |
README
romeo_moveit_actions
The package allows to perform simple actions with MoveIt! configured for Romeo, NAO, and Pepper robots.
It offers a set of functionalities, like:
: - pick and place objects, - reach and grasp objects, - test a target space for reaching and grasping, -
manage objects
: - virtual objects: add, move, remove,
- detect objects with the robot\'s sensors: call ORK
Linemod object recognition.
Documentation
To compile the documentation, please run
- rosdoc_lite <path_to_package>
Installation
- apt-get install ros-indigo-romeo-moveit-actions
- or from source: git clone https://github.com/ros-aldebaran/romeo_moveit_actions
In case of compiling from source, install the following dependencies:
: -
MoveIt!
: - apt-get install ros-indigo-moveit-full
- apt-get install ros-indigo-moveit-visual-tools
-
MoveIt! Grasp Generator
: - from source, the recommended branch: git clone
<https://github.com/nlyubova/moveit_simple_grasps> -b
romeo-dev
Additionally, install a required robot description package and MoveIt! configuration, at minimum.
Get a robot description:
: -
for Romeo:
: - apt-get install ros-indigo-romeo-description
- or from source
<https://github.com/ros-aldebaran/romeo_robot>
-
for Nao:
: - apt-get install ros-indigo-nao-description
ros-indigo-nao-meshes
- or from source <https://github.com/ros-naoqi/nao_robot>,
<https://github.com/ros-naoqi/nao_meshes>
-
for Pepper:
: - apt-get install ros-indigo-pepper-description
ros-indigo-pepper-meshes
- or from source
<https://github.com/ros-naoqi/pepper_robot>,
<https://github.com/ros-naoqi/pepper_meshes>
Get a robot-specific Moveit! configuration:
: -
for Romeo:
: - apt-get install ros-indigo-romeo-moveit-config
- or from source
<https://github.com/ros-aldebaran/romeo_moveit_config>
-
for Nao:
: - apt-get install ros-indigo-nao-moveit-config
- or from source
<https://github.com/ros-naoqi/nao_moveit_config>
-
for Pepper:
: - apt-get install ros-indigo-pepper-moveit-config
- or from source
<https://github.com/ros-naoqi/pepper_moveit_config>
For a real robot (not a simulator) --------------------------------If you are working with a real robot (not a simulator) then install the dcm-related package: * apt-get install ros-indigo-naoqi-dcm-driver * for Romeo: * apt-get install ros-indigo-romeo-control ros-indigo-romeo-dcm-bringup * from source https://github.com/ros-aldebaran/romeo_virtual, https://github.com/ros-aldebaran/romeo_dcm_robot * for Pepper: * apt-get install ros-indigo-pepper-control ros-indigo-pepper-dcm-bringup * from source https://github.com/ros-naoqi/pepper_virtual, https://github.com/ros-naoqi/pepper_dcm_robot * for Nao: * sudo-apt-get install ros-indigo-nao-control ros-indigo-nao-dcm-bringup * or from source https://github.com/ros-naoqi/nao_virtual, https://github.com/ros-aldebaran/nao_dcm_robot
Compile all source packages.
How it works
For a simulator (example for Romeo robot) -------------------
Launch MoveIt!:
roslaunch romeo_moveit_config demo.launch
Wait until the robot model is loaded and launch moveit_simple_actions:
roslaunch romeo_moveit_actions actions_romeo_sim.launch
Welcome to the world of simple actions! Now, you can add virtual objects or detect real objects and reach/grasp/place them !
For a real robot (example for Romeo robot) --------------------------------
Launch the dcm_bringup (providing the robot\'s IP):
roslaunch romeo_dcm_bringup romeo_dcm_bringup_remote.launch robot_ip:=<ROBOT_IP>
Launch MoveIt!:
roslaunch romeo_moveit_config moveit_planner.launch
Wait until the robot model is loaded and launch moveit_simple_actions:
roslaunch romeo_moveit_actions actions_romeo.launch
Welcome to the world of simple actions! Now, you can add virtual objects or detect real objects and reach/grasp/place them !