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ros_hros5

This is a work-in-progress ROS package for the HR-OS5 humanoid research platform. It is a collaborate effort composed of several open source projects.

Current hardware configuration:

  • HR-OS5 Endoskeleton
  • Arbotix-Pro Controller
  • NUC i5 8GB/32GB
  • PrimeSense
  • Intel R200
  • Sony DS4 Controller

Version

0.0.1

System Configuration

  • Ubuntu 14.04
  • ROS Indigo

Dependencies

The Interbotix HROS5-Framework is required in /src/hros5_misc/hros5_framework

git clone https://github.com/Interbotix/HROS5-Framework ./src/hros5_misc/hros5_framework
cd src/hros5_misc/hros5_framework/Linux/build/
make
ROS packages:
sudo apt-get install ros-indigo-joy
sudo apt-get install python-rosinstall
sudo apt-get install ros-indigo-robot-localization
sudo apt-get install ros-indigo-rtabmap-ros
sudo apt-get install ros-indigo-rtabmap
sudo apt-get install ros-indigo-joint-trajectory-controller
sudo apt-get install ros-indigo-effort-controllers ros-indigo-joint-state-controller ros-indigo-joint-state-publisher ros-indigo-controller-manager ros-indigo-imu-sensor-controller ros-indigo-position-controllers 
Optional (configuration dependant)
sudo apt-get install ros-indigo-openni2-launch
sudo apt-get install ros-indigo-pocketsphinx
https://github.com/PercATI/RealSense_ROS
Other requirements

Grant local user real-time access to the Arbotix Pro:

echo "ulimit -r 31" >> ~/.bashrc
sudo su
echo "<username> hard rtprio 31" >> /etc/security/limits.conf

sudo usermod -a -G dialout <username>

Robot Models

Two robot models are now available. The default configuration is the endoskeleton only and the alternate configuration contains a mix of the v2 and v3 3D printable armor/shells as well as a custom head design for the PrimeSense sensor. Expect the alternate configuration to change in time as development progresses.

To use the alternate visual and collision models specify hros5_visuals_collisions_armored.xacro in your launch files.

<!-- xacro for visuals/collisions -->
<arg name="meshes_xacro" default="$(find hros5_description)/urdf/hros5_visuals_collisions_armored.xacro"/>

Launching

No Sensors

To launch without extra sensors and mapping (ie. Teleoperation only)

roslaunch hros5_bringup basic_no_mapping.launch
MoveIt!

To launch with MoveIt compatibiity bring up the hros5_controller with trajectory controllers then launch the MoveIt Planner. **NOTE: There are known (joint positioning) issues with using the DarwinOP Action Pages and Walk Gait in conjunction with the MoveIt Planner.

roslaunch hros5_bringup basic_no_mapping_traj.launch
roslaunch hros5_moveit_config moveit_planner.launch
PrimeSense

To launch with a PrimeSense or ASUS Xtion (defined to be mounted on top of the head tilt servo):

roslaunch hros5_bringup primesense_local_debug.launch
Intel R200

To launch with an Intel R200 (defined to be mounted on the front of the head tilt servo) I'm currenly performing a little work around to allow RTAB-Map to work at the R200's optimal resolution.

First launch your R200 camera.

roslaunch realsense realsense_r200_launch.launch

I should note the R200 is configured to launch with the following modifications:

  <arg name="cHeight" default="480" />
  <arg name="cWidth" default="640" />
  <arg name="dHeight" default="468" />
  <arg name="dWidth" default="628" />

Second the depth frame resizer:

rosrun resize_image resize_image -i /camera/depth/image_raw -o /camera/depth/image_resized --aw 640 --ah 480

Finally, the ROS stack:

roslaunch hros5_bringup r200_local_debug.launch

Todos

  • Many, search TODO in the source.
  • Gazebo

Contributing Repositories

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