romeo_moveit_actions repository

Repository Summary

Checkout URI https://github.com/ros-aldebaran/romeo_moveit_actions.git
VCS Type git
VCS Version kinetic-dev
Last Updated 2017-10-23
Dev Status DEVELOPED
Released UNRELEASED

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 !

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
Released RELEASED

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 !