Mobile Industrial Manipulators (MIM)

This package implements different kinds of mobile manipulator that can be used in an industrial environment.
It also demonstrate the pick and place of the mobile manipulators.

Robots:

1. Differential drive mobile manipulator
2. Differential drive mobile manipulator with rocker-boggie structure
   

Authors: Chang-Hong Chen, Sparsh Jaiswal

Environment

Ubuntu 20.04
ROS Noetic

Dependencies

ROS Packages

ros-control
ros-controller

sudo apt-get install ros-noetic-ros-control ros-noetic-ros-controllers

Python Library

pip3 install queue

Run

Warehouse Simulation

launch the differential drive robot and the roker-boggie robot

roslaunch mim_robots warehouse_simulation.launch

run pick and place on the differential drive robot

cd scripts
python3 diffdrive_pick_place.py

Ramp demo

roslaunch mim_robots test_ramp.launch

run test ramp to show the advantage of rocker-boogie
(Down: ordinary differential drive, Up: rocker-boggie)

cd scripts
python3 test_ramp.py

Reference

The factory simulation scene is from the following package:
https://github.com/wh200720041/warehouse_simulation_toolkit