blrodriguez / gummi_moveit

Core files for Moveit!

gummi_moveit

Core files for Moveit! for the GummiArmCE.

Setting it up

For full funcionality this package requires gummi_base_XXX + gummi_ee_YYY + gummi_interface. Set those up in your catkin workspace directory and install all dependencies with rosdep:

$ rosdep install -y --from-paths . --ignore-src --rosdistro <YOUR-ROS-DISTRO>

Remembering to change <YOUR-ROS-DISTRO> for your ros distro, say kinetic or lunar or hydro. Then proceed with catkin_make.

If you don't have the robot or don't need to move the robot to test your code you only need gummi_base_XXX + gummi_ee_YYY. The package gummi_interface is required for node "gummi_right_arm_controller of type "follow_joint_trajectory.py", but this is not used for simulation, but still loaded in demo.

How to launch it

Simulated arm

$ roslaunch gummi_moveit demo.launch

Simulated arm with gui interface

$ roslaunch gummi_moveit demo.launch usegui:=true

Run it on the real robotic arm

1. Launch manager (roscore and the usb dongles for the dynamixels):

   $ roslaunch gummi_base_XXX manager.launch
   

2. Launch controllers (defines what motor acts on which joint):

   $ roslaunch gummi_base_XXX controllers.launch
   

3. Launch gummi (loads antagonists, PIDs, encoder feedbacks, sets contraction levels, initializes joints, etc): ATTENTION: This is the first package that actually makes the robot move, be ready to shut it down promptly in case of improper behaviour

   $ roslaunch gummi_interface gummi.launch
   

4. Run moveit planner with rviz interface:

   $ roslaunch gummi_moveit gummi_moveit.launch
   

This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.