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romeo_moveit_actions repository

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

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 !

CONTRIBUTING

No CONTRIBUTING.md found.