ROS-Delivery

Uses Kobuki TurtleBot 2 Platform to deliver items to and from Sawyer in ROS
https://sites.google.com/view/ros-delivery/home

Running the TurtleBot

SSH into the TurtleBot

ssh turtlebot@red.local

Export ROS_MASTER_URI in Workstation Terminals

export ROS_MASTER_URI=http://yellow.local:11311

Generate a map of the room.

Run on the TurtleBot

roslaunch turtlebot_bringup minimal.launch --screen 
roslaunch turtlebot_navigation gmapping_demo.launch

Run on the Workstation

roslaunch turtlebot_rviz_launchers view_navigation.launch
roslaunch turtlebot_teleop keyboard_teleop.launch

Drive the TurtleBot around until a satisfactory map is generated in RViz.

Save the map

rosrun map_server map_saver -f /tmp/my_map

Drive Autonomously with Object Avoidance

Run on the TurtleBot to load the map

roslaunch turtlebot_bringup minimal.launch
roslaunch turtlebot_navigation amcl_demo.launch map_file:=/tmp/my_map.yaml

Run on the Workstation

roslaunch turtlebot_rviz_launchers view_navigation.launch --screen

In RViz, select “2D Pose Estimate” and click the map approximately where TurtleBot is and align the arrow to indicate orientation.

Run the Publisher and Subscriber to command the TurtleBot to move to user specified points.

rosrun turtlebot sub.py
rosrun turtlebot pub.py

Running the Sawyer Pick and Place

SSH into the Sawyer robot to run code on Sawyer

./baxter.sh

Run on Sawyer in different Terminal windows to initialize the robot

rosrun intera_interface enable_robot.py -e
rosrun intera_interface joint_trajectory_action_server.py
roslaunch sawyer_moveit_config sawyer_moveit.launch electric_gripper:=true

Run on the Workstation in different Terminal window to enable the USB camera and AR tracking

roslaunch ar_track_alvar webcam_track.launch
rosrun rviz rviz

Run on Workstation to publish static transforms (may need to calibrate yourself)

rosrun tf static_transform_publisher .045 0 -.07 0 -1.5708 0 ar_marker_14 base_marker 100
rosrun tf static_transform_publisher -.01 .02 .15 0 0 0 ar_marker_6 obj_marker 100
rosrun tf static_transform_publisher -.08 0.0 .45 0 0 0 ar_marker_3 dest_marker 100

Run on Workstation to activate pick and place

rosrun sawyer run.sh

(Optional) Echo joint states and gripper locations for debugging

rosrun tf tf_echo base right_gripper
rostopic echo robot/joint_states