jackal_kinova_simulator Noetic version

Overview

This is a mobile manipulator simulator package using Gazebo, RViz, MoveIt, move_base.

The model of the mobile manipulator robot was created by combining Kinova Robotics' Gen3 Lite and Clearpath Robotics' Jackal.

This package is for ROS Noetic.

Installation

Dependencies

This software is built on the Robotic Operating System (ROS).

• For Mobile Manipulator Dependencies:

- jackal mobile robot dependencies
$ sudo apt-get install ros-noetic-jackal-*
$ sudo apt-get install ros-noetic-ddynamic-reconfigure

- ros_controllers
$ sudo apt-get install ros-noetic-ros-controllers

• For MoveIt install:

$ sudo apt-get install ros-noetic-moveit

• This package uses same ar_track_alvar package with our husky_ur3_simulator package. For ar_track_alvar package install:

$ cd ~/catkin_ws/src
$ git clone -b noetic-devel https://github.com/QualiaT/ar_track_alvar.git
$ cd ~/catkin_ws && catkin_make
$ rospack profile && rosstack profile

jackal_kinova uses two Realsense D435.

• For Realsense SDK 2.0 install:

$ sudo apt-key adv --keyserver keys.gnupg.net --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE
$ sudo add-apt-repository "deb http://librealsense.intel.com/Debian/apt-repo focal main" -u

$ sudo apt-get install librealsense2-dkms
$ sudo apt-get install librealsense2-utils
$ sudo apt-get install librealsense2-dev
$ sudo apt-get install librealsense2-dbg

# test
$ realsense-viewer

• For Realsense ROS package install:

$ export ROS_VER=noetic
$ sudo apt-get install ros-noetic-realsense2-camera
$ cd ~/catkin_ws/src/
$ git clone https://github.com/IntelRealSense/realsense-ros.git
$ cd realsense-ros/
$ git checkout `git tag | sort -V | grep -P "^2.\d+\.\d+" | tail -1`
$ cd ~/catkin_ws/
$ catkin_make

• kortex_driver in ros_kortex is required to simulate Gen3 Lite, and conan is required to build ros_kortex.

- conan
$ python3 -m pip install conan==1.48.0
# if catkin_make fails, try:
$ sudo python3 -m pip install conan==1.48.0

$ echo "export CONAN_REVISIONS_ENABLED=1" >> ~/.bashrc
$ source ~/.bashrc

- ros_kortex
$ cd ~/catkin_ws/src
$ git clone -b noetic-devel https://github.com/Kinovarobotics/ros_kortex.git

• If gazebo_grasp_fix plugin is already installed, remove gazebo-pkgs in ros_kortex/third_party before running catkin_make.

jackal_kinova_simulator Installation

$ cd ~/catkin_ws/src
$ git clone -b noetic-devel https://github.com/Sungwwoo/jackal_kinova_simulator.git

$ cd ~/catkin_ws && catkin_make
$ rospack profile && rosstack profile

How to Use

- Bring up Gazebo with the robot model
$ roslaunch jackal_kinova_gazebo HRI_lab.launch

- Bring up MoveIt & RViz
$ roslaunch jackal_kinova_moveit_config Omni_control.launch

- If you want to navigation using map, type the following command.
$ roslaunch jackal_kinova_navigation HRI_lab.launch

How to Set Manipulator Initial pose

• The manipulator initial pose is set by kortex_driver using move_group.
• To change initial pose, see home_robot.py. In home_robot.py, HOME_ACTION_IDENTIFIER determines the pose of the manipulator specified in jackal_kinova.srdf. There are 3 identifiers: 1.retract, 2.home, 3.vertical.
• To change initial pose, change the joint values in jackal_kinova.srdf and HOME_ACTION_IDENTIFIER in home_robot.py.
• To add identifier for kortex_driver, edit CreateDefaultActions in kortex_arm_simulation.cpp.