Interbotix PX100 Motion Planning using MoveIt

Overview

This package uses MoveIt to control Interbotix PX100 robot arm (in Simulation as well as in real world).

• User may use services listed below individually to reset robot, execute a step or make the robot follow a pre-loaded series of waypoints
• User may use services in combination by:
  • Resetting robot to a Goal_Pose pre-defined position, set-up box_position and box_orientation of the box obstacle to scene and optionally set clear_waypoints to delete previously collected waypoints
  • Execute step service multiple times with different goal_position, goal_orientation and Gripper_state as input as desired. User may choose to record the waypoint. The waypoint will only be recorded to rosparam server if plan succeeds and user set record to true.
  • Once user collects multiple waypoints using step service, user may use follow service to execute entire sequence and repeat if desired. (Note: Follow service calls step service in a loop but doesn't record in each iteration)
• The user has an option to run the code on actual Interbotix PX100 robot arm or in Simulation. User may visualize the robot in RVIZ optionally in both the cases.

Dependencies

Title	Link
MoveIt	ROS Wiki
interbotix_ros_manipulators	Github

Installation Instructions

• Create a catkin workspace

  mkdir -p ~/catkin_ws/src
  cd ~/catkin_ws/src/
  

• Clone the repo into catkin_ws/src

  git clone https://github.com/ME495-EmbeddedSystems/homework-3-whomihirpatel.git
  

• Build the workspace and activate it

  cd ~/catkin_ws/
  catkin_make
  source ~/catkin_ws/devel/setup.zsh
  

Usage Instructions

• To run the code on actual Interbotix PX100 robot arm:

  roslaunch arm_move arm.launch actual:=true
  

  • This command also launches RVIZ to visualize actual robot in action.

  • Note: By default, all args in roslaunch arm_move arm.launch are set to False. Set only one arg to True. Check below for all configurations options availabe.

  • The waypoints are pre-loaded to rosparam server. To make the robot follow these series of waypoints use service below (Note: service input repeat: 0 will make the robot follow series of waypoints once, i.e. repeat 0 times)

    rosservice call /px100/follow "repeat: 2"
    

  • Check services below to plan, execute, record step sequence or reset robot as well as add box to planning scene

• To run the code in RViz:

  roslaunch arm_move arm.launch use_fake:=true
  

• Services:

  • Reset
    • box_position and box_orientation sets box at desired pose in planning scene.
    • clear_waypoints clears collected waypoints from node's array as well as from rosparam
    • Goal_Pose resets robot to predefined position. options: Home, Sleep, Upright (CaseSensitive)

  rosservice call /px100/reset "box_position:                                                          
      x: 0.2
      y: 0.0
      z: 0.01
      box_orientation:
      x: 0.0
      y: 0.0
      z: 1.0
      w: 1.0
      Goal_Pose: 'Home'
      clear_waypoints: true"
  

  • Step
    • goal_position and goal_orientation sets arm's goal pose
    • Gripper_state sets end-effector's desired state options: Open, Closed, Home (CaseSensitive)
    • record option to record the goal pose to rosparam [note: The waypoint will only be recorded to rosparam server if plan succeeds and user set record to true.]

  rosservice call /px100/step "goal_position:                                                              
      x: 0.2
      y: 0.0
      z: 0.1
      goal_orientation:
      x: 0.0
      y: 0.0
      z: 0.0
      w: 1.0
      Gripper_state: 'Closed'
      record: true"        
  

  • Follow
    • repeat takes interger input for repeating the loop (following a series of waypoints in each loop) for user defined number times. [eg: For input 0, loop executes once (i.e. repeats 0 times)]

  rosservice call /px100/follow "repeat: 2"  
  

• Waypoints structure:

Configurations Instructions

• use_actual:=true option to run the code on actual Interbotix PX100 robot arm

• use_fake:=true option to run the code in RViz

• use_gazebo:=true option to run the code in Gazebo

• rvizconfig option to load custom rviz configuration

• user may alter waypoints, gripper_state, as well as frequency parameters, from config/waypoints.yaml

  Set only one of the above mentioned args to to True in launch file.

• Demo: Click on the image below to view video: Interbotix px100: Motion Planning using MoveIt!

  

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