Gazebo_Fanuc_Grasp

ROS/Gazebo simulation of a Fanuc Industrial Robot performing Pick&Place tasks:

• packing boxes
• OpenCV pipeline to autonomously detect and pick boxes

The code runs inside a Docker Container

Dependencies

• Docker
• ROS Noetic
• MoveIt! (for Noetic)
• Gazebo 11
• Python 3.8.2
• OpenCV
• ros-control

Usage

$ git clone https://github.com/RG-sw/Gazebo_Fanuc_Grasp.git
$ cd Gazebo_Fanuc_Grasp/robot_ws

Build Container & Run it

$ docker build -t fanuc_grasp .
$ xhost +

$ docker run -it \
	  --rm \
	  --privileged \
    --net=host \
    --device /dev/dri \
    --env="DISPLAY" \
    --env="QT_X11_NO_MITSHM=1" \
    --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \
    fanuc_grasp \

Inside the container :

$ cd Gazebo_Fanuc_Grasp/robot_ws
$ catkin_make

To Run Palletizing simulation :

$ roslaunch fanuc_r2000ic_moveit_config palletizzation.launch

$ roslaunch fanuc_r2000ic_moveit_config palletizzation_costa.launch

To Run OpenCV detetction + Pick&Place simulation :

$ roslaunch fanuc_r2000ic_moveit_config opencv_palletizzation.launch

RESOURCES

• example usage of xacro command (from xacro to urdf file) https://github.com/wrbernardoni/robot_tutorial_1/blob/master/scripts/play.sh

• passing params to xacro in launch https://answers.ros.org/question/38956/pass-parameters-to-xacro-in-launch-file/

• spawn xacro in gazebo https://answers.ros.org/question/70417/how-to-spawn-urdfxacro-file-into-gazebo/

• gazebo plugins http://gazebosim.org/tutorials?tut=ros_gzplugins

• bumper sensor gazebo https://answers.ros.org/question/29158/how-do-i-use-force-sensor-bumper-sensor-in-gazebo/ and https://answers.ros.org/question/246448/getting-contact-sensorbumper-gazebo-plugin-to-work/ and https://answers.gazebosim.org//question/5355/adding-ros-integrated-contact-sensors/ and http://gazebosim.org/tutorials?cat=sensors&tut=contact_sensor&ver=1.9-4.0

• Gazebo spawn script example! https://github.com/roboticist8/ros_gazebo_spawn_models/blob/master/spawn_urdf_sdf/src/spawn_sdf.cpp

• Gazebo bodywrench error https://answers.gazebosim.org//question/24764/gazebo-applybodywrench-throwing-errors/

• Gazebo scripting python (check Main exception !!!) https://answers.gazebosim.org//question/22125/how-to-set-a-models-position-using-gazeboset_model_state-service-in-python/

• Gazebo Gripper https://answers.ros.org/question/302358/anyone-whos-succeeded-with-grasping-using-ros-and-gazebo-what-advice-do-you-have-to-offer/ and https://answers.ros.org/question/208735/pickup-object-in-gazebo-graspped-object-doesnt-move/ and https://answers.gazebosim.org/question/25267/cannot-control-gripper-to-grasp-object-in-gazebo/ and Kinovarobotics/kinova-ros#157

• ROS subscriber not up to date https://stackoverflow.com/questions/26415699/ros-subscriber-not-up-to-date

• Ros Control Explanation (all types of controller) https://www.rosroboticslearning.com/ros-control

• OSRF ariac warehouse http://gazebosim.org/ariac and https://bitbucket.org/osrf/ariac/src/master/

• Euler Angles Tutorial https://mathworld.wolfram.com/EulerAngles.html

Blogs

• ROS BOOKS http://wiki.ros.org/Books (Amazing book from O'Reiley 2015)
• Erdal's Blog (Gazebo integration) https://erdalpekel.de/
• Robotic Seabass (Docker..Jenkins..) https://roboticseabass.com/
• Mike Moore (Docker, Jupyter) http://moore-mike.com/index.html
• Blog with ROS/Gazebo Integration https://www.codenong.com/cs110953023/

Thesis & Papers

• Robotic arm pick-and-place tasks https://webthesis.biblio.polito.it/16766/1/tesi.pdf
• A ROS-based Workspace Control and Trajectory Planner for a Seven Degrees Of Freedom Robotic Arm https://amslaurea.unibo.it/10919/1/Alessandro_Santoni_Thesis_(abstract_ITA).pdf
• NAVIGATION AND GRASPING WITH A MOBILE MANIPULATOR: FROM SIMULATION TO EXPERIMENTAL RESULTS http://tesi.cab.unipd.it/62262/1/matteo_iovino_tesi.pdf
• Goole's RL https://github.com/google-research/ravens/tree/master/ravens
• UR5 OpenCV pickplace https://github.com/lihuang3/ur5_ROS-Gazebo/blob/master/ur5_mp.py

TOOLS

• Mesh Cleaner https://www.hamzamerzic.info/mesh_cleaner/?
• Mass/Inertia online calculator