MOVEIT EXTENSION WITH ADVANCED MANIPULATION FUNCTIONS

The advanced_manipulation_pkg presents a set of functions that extend the current MoveIt capabilities, to perform advanced manipulation. This functions include: Automatic tool changing, single and dual-arm motion with full control on the EEF cartesian speed and acceleration, and several types of dual-arm synchronized movements.

Required modifications

The functions are very generic, but a few modifications are required in order to use the code with any robot.

• The name of the moveit_commander variables must be:

  • robot: For the moveit_commander.robot object
  • scene: For the moveit_commander.planning_scene_interface object
  • arm_right: For the moveit_commander.move\group object of the right arm.
  • arm_left: For the moveit_commander.move\group object of the left arm.
  • arms: For the moveit_commander.move\group object of the dual arm group.
  • torso: For the moveit_commander.move\group object of the robot torso.

• The named target configurations must be modified to match the ones in the SRDF of your robot.

How to launch the demo

All the required dependencies and pkgs must be installed, such as ROS Industrial, URDF, MoveIt... First, launch the simulation environment (this has been modified and it is not exactly the same as can be found in the Motoman repository):

• If no physical robot is connected: roslaunch motoman_sda10f_moveit_config demo_no_gripper.launch
• If the physical robot is connected: roslaunch motoman_sda10f_moveit_config moveit_planning_execution_no_gripper.launch

Then, any of the graphs can be launched:

• Dual-arm EEF speed plot: roslaunch advanced_manipulation_pkg plot_dual_arm_speeds.launch
• Left arm EEF speed plot: roslaunch advanced_manipulation_pkg plot\left_arm_speed.launch
• Left arm angular EEF speed plot: roslaunch advanced_manipulation_pkg plot\left_arm_angular_speed.launch

Finally, launch the demo:

• roslaunch advanced_manipulation_pkg advanced_manipulation.launch