fist_lab_arm

Robotic arm experiments for dynamic end effector stabilization, RL based motion planning and grasping. The project is under Computer Science and Engineering Department, NIT Rourkela.

Dependencies

Install all the dependencies of the project using the command rosdep install -r --from-path src --ignore-src from workspace folder. Apart from that make sure to have python catkin tools installed (refer https://catkin-tools.readthedocs.io/en/latest/installing.html).

Build

cd catkin_ws/
catkin build

Run

• To run the pick and place robot environment based on UR5 arm and Robotiq gripper: roslaunch icl_ur5_setup_gazebo icl_ur5_gripper.launch

• To run the dynamic end effector stabilization environment based on UR arm mounted on Husky robot roslaunch husky_gazebo huskyarm.launch

• To run the simple robot with a mounted turtlebot Pincher X arm (this package is build from scratch) roslaunch roboarm armbot.launch

Acknowledgements

This repository has packages accumulated from a number of other open source repositories. Below, is a list for reference. Many modifications were done inorder to customize the simulations according to the project requirements.

1. https://github.com/husky/
2. https://github.com/intuitivecomputing/ur5_with_robotiq_gripper
3. https://github.com/ros-industrial/universal_robot
4. https://github.com/IntelRealSense/realsense-ros
5. https://github.com/roboticsgroup/roboticsgroup_gazebo_plugins
6. https://github.com/JenniferBuehler/gazebo-pkgs
7. https://bitbucket.org/theconstructcore/openai_ros