jlbabilino / chris_kinova_flexible_manipulation

Installation and bring-up files for demonstration of Flexible Manipulation system using a Kinova Mico arm

CHRISLab Flexible Manipulation Demo using Kinova Robot Arm

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This package contains at collection of demonstration behaviors for the Kinova Mico robot arm using the CHRISLab Flexible Manipulation system, which is a collection of FlexBE compatible state implementations that interface with ROS MoveIt! capabilities.

Install

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The Flexible Manipulation system has been tested using the latest version of ROS Kinetic. You should first follow the ROS Install Guide and get that set up before proceeding.

To use this demonstration, we assume that a catkin workspace is created, and the $WORKSPACE_ROOT environment variable is defined.
On a new system, this can be accomplished by following the first six steps of the initial installation directions at CHRISLab Install.

Change to the $WORKSPACE_ROOT/src folder (e.g. with roscd if the workspace is set up correctly), clone this repository, and then run

chris_kinova_flexible_manipulation/install/install_chris_kinova_flexible_manipulation.sh

This script can be applied to an existing workspace if desired.

This will clone all of the necessary packages for our demonstration. After the script completes, do a catkin build and re-source the environment setup before running the programs.

Usage

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Simulation

• Kinova simulation

roscore
roslaunch gazebo_ros empty_world.launch
roslaunch chris_kinova_bringup chris_kinova_robot_gazebo.launch
roslaunch chris_kinova_bringup chris_kinova_trajectory_controllers.launch
roslaunch chris_kinova_bringup chris_moveit_demo.launch
roslaunch chris_kinova_flexible_manipulation chris_kinova_behavior_testing.launch

For a hardware based demonstration, see the chris_kinova_bringup README, and add the

roslaunch chris_kinova_flexible_manipulation chris_kinova_behavior_testing.launch

The current kinova hardware driver does not properly handle the FollowJointTrajectoryAction, and returns a success result prematurely.

License

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Copyright (c) 2018 Capable Humanitarian Robotics and Intelligent Systems Lab (CHRISLab) Christopher Newport University

All rights reserved.

Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:

  1. Redistributions of source code must retain the above copyright notice,
     this list of conditions and the following disclaimer.

  2. Redistributions in binary form must reproduce the above copyright
     notice, this list of conditions and the following disclaimer in the
     documentation and/or other materials provided with the distribution.

  3. Neither the name of the copyright holder nor the names of its
     contributors may be used to endorse or promote products derived from
     this software without specific prior written permission.

     THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
     "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
     LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
     FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
     COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
     INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
     BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
     LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
     CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
     LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY
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