turtlebot_arm repository

Repository Summary

Checkout URI https://github.com/turtlebot/turtlebot_arm.git
VCS Type git
VCS Version kinetic-devel
Last Updated 2020-02-06
Dev Status DEVELOPED
CI status No Continuous Integration
Released UNRELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

README

TurtleBot Arm

Updated for Kinetic!

Kinetic version of turtlebot arm code. I didn't try on Jade, but it should easily work with minor changes. It's mostly the same code as on Indigo, with some improvements on turtlebot_arm_block_manipulation (see updated wiki TODO) and specially turtlebot_arm_object_manipulation: a fully revised version of that demo using OKR, SMACH and MoveIt! pick and place.

Selecting Arm Type

By default this will work with the original white/green TurtleBot arm. To use the PhantomX Pincher, set environment variable "TURTLEBOT_ARM1" to pincher. You will need arbotix_ros version 0.11.0 or higher for PhantomX Pincher.

Attaching the Arm to a Robot

Open your xacro-macro-magic URDF, and add something like:

   <include filename="$(find turtlebot_arm_description)/urdf/$(optenv TURTLEBOT_ARM1 turtlebot)_arm.xacro" />
   <turtlebot_arm parent="base_link" color="white" gripper_color="green"
             joints_vlimit="1.571" pan_llimit="-2.617" pan_ulimit="2.617">
      <origin xyz="0 0 1"/>
   </turtlebot_arm>

This will attach a turtlebot arm to your robot. Replace base_link with whatever link you want to attach to, and change the origin as needed. Apart from color, we can configure joints velocity limit and lower/upper limits for the first joint (arm_shoulder_pan) to allow accessing to different operational areas, e.g. left handed vs. right handed robot

Running MoveIt

Ensure you have all the required dependencies by running (you probably did it before compiling):

   cd turtlebot_arm
   rosdep install --from-paths -i -y src

Before start playing, I highly recommend to calibrate your camera extrinsic parameters following this tutorial

The turtlebot_arm_moveit_config/demo.launch is a bit wonky, but the move_group action underlying it works fine. To test your installation, run one of the demos (well, demo by now) from turtlebot_arm_moveit_demos, e.g.:

   rosrun turtlebot_arm_moveit_demos pick_and_place.py

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://github.com/turtlebot/turtlebot_arm.git
VCS Type git
VCS Version indigo-devel
Last Updated 2017-03-12
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

README

TurtleBot Arm

Indigo version of turtlebot arm code. It should easily work on Hydro, too. Package turtlebot_arm_moveit_demos provides use examples to start playing with the arm on MoveIt!, while the recovered on indigo turtlebot_arm_block_manipulation provides a more complete and interesting demo.

Attaching the Arm to a Robot

Open your xacro-macro-magic URDF, and add something like:

   <include filename="$(find turtlebot_arm_description)/urdf/arm.xacro" />
   <turtlebot_arm parent="base_link" color="white" gripper_color="green"
             joints_vlimit="1.571" pan_llimit="-2.617" pan_ulimit="2.617">
      <origin xyz="0 0 1"/>
    </turtlebot_arm>

This will attach a turtlebot arm to your robot. Replace base_link with whatever link you want to attach to, and change the origin as needed. Apart from color, we can configure joints velocity limit and lower/upper limits for the first joint (arm_shoulder_pan) to allow accessing to different operational areas, e.g. left handed vs. right handed robot

Running MoveIt

Ensure you have all the required dependencies by running (you probably did it before compiling):

   cd turtlebot_arm
   rosdep install --from-paths -i -y src

Before start playing, I highly recommend to calibrate your camera extrinsic parameters following this tutorial

The turtlebot_arm_moveit_config/demo.launch is a bit wonky, but the move_group action underlying it works fine. To test your installation, run one of the demos (well, demo by now) from turtlebot_arm_moveit_demos, e.g.:

   rosrun turtlebot_arm_moveit_demos pick_and_place.py

CONTRIBUTING

No CONTRIBUTING.md found.