OARbot

ROS packages for OARbot which includes Kinova robotic arm and omni-directional moving base

Installation

The current code is tested on ROS Kinetic. First install the tools and general ros packages such as python-catkin-tools, python-wstool, ros_control and realsense SDK. Second clone this repository and build locally

# install tools and general packages
sudo apt install python-wstool
sudo apt-get install ros-kinetic-ddynamic-reconfigure
sudo apt install ros-kinetic-graph-msgs
sudo apt-get install ros-kinetic-catkin python-catkin-tools 

# Make a ROS WS and cd into the src/ folder
mkdir -p ~/oarbot_ws/src && cd ~/oarbot_ws/src
git clone https://github.com/Hubert51/OARbot.git

# Build the workspace (do it in Release or RelWithDebInfo)
cd ~/oarbot_ws
catkin build --cmake-args -DCMAKE_BUILD_TYPE=Release

Manipulation in Gazebo Simulation(need to be completed)

Demo1: show the OARbot in gazebo and move the base to hit the cola can.

# source the config files
source /opt/ros/kinetic/setup.bash
source ~/oarbot_ws/devel/setup.bash

## open two terminals
# terminal 1:
roslaunch oarbot_description oarbotGoToPoint.launch
# terminal 2:
rosservice call /go_to_point_switch "data: true" 

Demo2: Using command line to control the OARbot

# publish the velocity to the base, the rate is once per second.
rostopic pub -r 1  /cmd_vel geometry_msgs/Twist  "linear:
  x: -0.5
  y: -0.5
  z: 0.0
angular:
  x: 0.0
  y: 0.0
  z: 0.0"