Introduction

Repo for my graduation project.

My master degree graduation project is about coordination control for mobile manipulator. My goal is to acheive movement control of manipulator and mobile base simultaneously.

Environment

• Ubuntu 14.04
• ROS Indigo

Package dependences

• ur_modern_driver, Source at src/ur_modern_driver

• hokuyo_node, You can install hokuyo_node via command line:

sudo apt-get install ros-indigo-hokuyo-node

• laser_scan_matcher, This is a node from scan_tools, source at src/scan_tools/laser_scan_matcher

Package description

ur_modern_driver

Provide the velocity control interface for ur.

aimm_description

Description files for mobile manipulator. Source files are here: src/aimm_description

Test this package by cd to src/aimm_description/ and using command:

sh display.sh

You will see the effect like below if everything is alright.

aimm_moveit_config

MoveIt! config package for mobile manipulator

laser_scan_matcher

Launch this module with a custom launch file:

roslaunch laser_scan_matcher localization.launch

ur5_jacobian

How to control

Create urdf file for mobile manipulator

TODO

Create MoveIt! config package for mobile manipulator

TODO