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MoveItGazeboDemo.md

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MOVEIT GAZEBO setup

Setup ROS gazebo enviroment and moveit to move robot follow a trajectory base on 3d model convexhull

Video 【Sim2real】01：ROS ， Moveit ， Gazebo 和凸包

Dependence

  1. ROS Noetic
  2. UR robot driver Version 2022/08
  3. moveit Moveit 1 Noetic
  4. gazebo Version 11

Run

cd catkin_ws/

// connect robot
roslaunch ur_robot_driver ur5_bringup.launch robot_ip:=192.168.130.105
[gazebo] roslaunch zz_test ur5_gazebo_test.launch

// make planing
roslaunch zz_test ur5_moveit_planning_execution.launch
[with gazebo ]roslaunch zz_test ur5_moveit_planning_execution.launch sim:=true

// visualize
roslaunch zz_test moveit_rviz.launch 

// application

// draw a circle/cone
roslaunch zz_test move_group_interface_tutorial.launch



Install

# Install ROS Noetic first

# then install rosdep
sudo apt-get install python3-rosdep
sudo rosdep init
rosdep update


# then clone all submodules
git clone --recursive git@github.com:mrzhuzhe/Gurren.git

# install dependencies
$ sudo apt update -qq
$ rosdep update
$ rosdep install --from-paths src --ignore-src -y

# build the workspace
$ cd catkin_ws
$ catkin_make

# activate the workspace (ie: source it)
$ source devel/setup.bash



Applications

Robot applications features will be develop in other reposs

  1. calculate way point from CAD https://github.com/mrzhuzhe/Patrick/tree/main/geo/contour



Setup

source devel/setup.bash



UR Simulator setup

use vitual machine on linux

  1. https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/blob/master/README.md#extract-calibration-information
  2. https://www.universal-robots.com/download/software-cb-series/simulator-linux/offline-simulator-cb3-linux-ursim-3157/
  3. https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/blob/master/ur_robot_driver/doc/usage_example.md
# connect to Robot

roslaunch ur_robot_driver ur5e_bringup.launch robot_ip:=192.168.56.101

# Rviz

roslaunch ur_robot_driver example_rviz.launch



gazebo

Docs:

https://classic.gazebosim.org/tutorials?tut=components&cat=get_started

Physics setting:

https://classic.gazebosim.org/tutorials?cat=physics there are some setting wrong in inertial friction and so on




ROS sensor

use custom camera

  1. http://wiki.ros.org/Sensors drivers and so on
  2. http://wiki.ros.org/Sensors/Cameras
  3. https://classic.gazebosim.org/tutorials?tut=ros_gzplugins&cat=connect_ros
  4. /rrbot/camera1/image_raw
  5. gazebo cannot be definte in world only used in URDF



References

  1. https://github.com/fmauch/universal_robot
  2. https://github.com/cambel/ur3/
  3. https://github.com/lihuang3/ur5_ROS-Gazebo
  4. https://github.com/MingshanHe/Compliant-Control-and-Application
  5. World Robot Summit