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ROS Melodic Workspace

Build Status Coverage Status MIT License GitHub Issues GitHub Pull Requests Gitter Join our Slack Workspace

This ROS melodic workspace is created on Ubuntu 18.04. Here I have worked on several moveit related projects like Pick, Place, Pouring task for multi-manipulator system using MoveIt Task Constructor(MTC).

Table of content

Installation

All the code required to get started

  • Prerequisite

    • You should have ROS melodic on your ubuntu 18.04.
    • All ROS dependency is satisfied.

  • Clone

    git clone https://github.com/iamrajee/ws_moveit.git

  • Setup

    cd ws_moveit/
./refresh.sh
make

    source ~/ws_moveit/devel/setup.bash

Package description

  • moveit_task_constructor

    Pick, Place and pouring demos

    1. Run default Pick & Place demo of MTC

    This is the default Pick & Place demo provided by the MTC. (Source the workspace before every Roslaunch)

    Run
    Terminal 1: roslaunch moveit_task_constructor_demo demo.launch

    Terminal 2: roslaunch moveit_task_constructor_demo pickplace.launch

    2. Same as above but with custom formating

    Run (Click to expand!) 
    Terminal 1: roslaunch moveit_task_constructor_demo demo2.launch

    Terminal 2: roslaunch moveit_task_constructor_demo pickplace2.launch

    3. Same as above but for two object & two cylider

    Run 
    Terminal 1: roslaunch moveit_task_constructor_demo demo3.launch

    Terminal 2: roslaunch moveit_task_constructor_demo pickplace3.launch

    4. Same as above but included abstract function pick place for multiple object

    TODO

    Run 
    Terminal 1: roslaunch moveit_task_constructor_demo demo4.launch

    Terminal 2: roslaunch moveit_task_constructor_demo pickplace4.launch

    5. Pick & Place for two panda arm

    Also commented various ways which didn't worked

    Run 
    Terminal 1: roslaunch moveit_task_constructor_demo demo5.launch

    Terminal 2: roslaunch moveit_task_constructor_demo pickplace5.launch

    6. Same as above but clearner

    Run 
    Terminal 1: roslaunch moveit_task_constructor_demo demo6.launch

    Terminal 2: roslaunch moveit_task_constructor_demo pickplace6.launch

    7. Serially executing Pick & Place task using two panda arm

    Run 
    Terminal 1: roslaunch moveit_task_constructor_demo demo7.launch

    Terminal 2: roslaunch moveit_task_constructor_demo pickplace7.launch

    8. Parallelly(Merger) executing simple task using two panda arm

    Run 
    Terminal 1: roslaunch moveit_task_constructor_demo demo8.launch

    Terminal 2: roslaunch moveit_task_constructor_demo pickplace8.launch

    9. Simplest single panda arm pouring demo

    Run 
    Terminal 1: roslaunch moveit_task_constructor_demo demo9.launch

    Terminal 2: roslaunch moveit_task_constructor_demo pickplace9.launch

    10. Same as above but keeping glass at ground level

    Run 
    Terminal 1: roslaunch moveit_task_constructor_demo demo10.launch

    Terminal 2: roslaunch moveit_task_constructor_demo pickplace10.launch

    11. Same as above but keeping glass at some height from ground

    Run 
    Terminal 1: roslaunch moveit_task_constructor_demo demo11.launch

    Terminal 2: roslaunch moveit_task_constructor_demo pickplace11.launch

    12. Cleaned version of two panda arm pouring.

    Run 
    Terminal 1: roslaunch moveit_task_constructor_demo demo12.launch

    Terminal 2: roslaunch moveit_task_constructor_demo pickplace12.launch

    13. Pick & Place using two panda arm for differnt object

    Run 
    Terminal 1: roslaunch moveit_task_constructor_demo demo13.launch

    Terminal 2: roslaunch moveit_task_constructor_demo pickplace13.launch

    14. Pick & Place using two panda arm for same object

    Run 
    Terminal 1: roslaunch moveit_task_constructor_demo demo14.launch

    Terminal 2: roslaunch moveit_task_constructor_demo pickplace14.launch

    15. Pick & Place for two panda arm using seperated tasks

    TODO

    Run 
    Terminal 1: roslaunch moveit_task_constructor_demo demo15.launch

    Terminal 2: roslaunch moveit_task_constructor_demo pickplace15.launch

    Cartesian Demos

    1. Run default cartesian demo of MTC

    This is the default cartesian demo provided by the MTC.

    Run
    Terminal 1: roslaunch moveit_task_constructor_demo demo_cartesian.launch/demo.launch

    Terminal 2: rosrun moveit_task_constructor_demo cartesian

    2. Same as above but with custom formating

    Run (Click to expand!) 
    Terminal 1: roslaunch moveit_task_constructor_demo demo_cartesian2.launch

    Terminal 2: rosrun moveit_task_constructor_demo cartesian2

    3. Executing two task with differnt node name

    task execution not return problem -> resolved by using in built t.execute() and updating with recent PR #136

    Run 
    Terminal 1: roslaunch moveit_task_constructor_demo demo3.launch

    Terminal 2: rosrun moveit_task_constructor_demo cartesian2

    Terminal 3: rosrun moveit_task_constructor_demo cartesian3

    or

    Terminal 1: roslaunch moveit_task_constructor_demo demo_cartesian3.launch

    Terminal 2: rosrun moveit_task_constructor_demo cartesian3

    4. Two arm panda executed simple different task

    (Cleaned) could plan but can execute -> resolved by commenting "capabilities" and "disable_capabilities" parameter in move_group.launch

    Run 
    Terminal 1: roslaunch moveit_task_constructor_demo demo_cartesian4.launch

    Terminal 2: rosrun moveit_task_constructor_demo cartesian4

    5. Trying async spinner to execute two task simontaneously

    Run 
    Terminal 1: roslaunch moveit_task_constructor_demo demo_cartesian5.launch

    Terminal 2: rosrun moveit_task_constructor_demo cartesian5

    Modular Demos

    1. Run default Modular demo of MTC

    This is the default Modular demo provided by the MTC.

    Run
    Terminal 1: roslaunch moveit_task_constructor_demo demo.launch

    Terminal 2: rosrun moveit_task_constructor_demo modular

    2. Same as above but with custom formating

    Run (Click to expand!) 
    Terminal 1: roslaunch moveit_task_constructor_demo demo.launch

    Terminal 2: rosrun moveit_task_constructor_demo modular2

  • panda

    panda pkg contain cpp and py interface for moveit.*

    Terminal 1:

    $ roscore
$ TODO

    Terminal 2:

    $ TODO

  • mtc_pour

    panda pkg contain cpp and py interface for moveit.*
    Terminal 1:

    $ roscore
$ TODO

    Terminal 2:

    $ TODO

  • VLP16


    See full video here. In this pkg TODO



Helper Scripts

  • refresh.sh

    #!/bin/bash
source /opt/ros/melodic/setup.bash
source install/local_setup.bash
source install/setup.bash
clear

    It will source the workspace after buiding workspace or after creating new pkg. Run it as ./refresh.sh

  • makefile

    SHELL=/bin/bash
all:
    make run
run:
    catkin_make
    bash refresh.sh

    It will build the workspace . Run it as make

  • createpkg.sh

    #!/bin/bash
cd src/
catkin create $1
cd ../
make
source refresh.sh

    It will create new package . Run it as ./createpkg.sh newpkg_name

  • tftree.sh

    #!/bin/bash
rosrun rqt_tf_tree rqt_tf_tree

    It will launch the gui to visvualise the tf tree. Run it as ./tftree.sh

  • printenv.sh

    #!/bin/bash
printenv | grep -i ROS

    It will print the ROS related environment variable . Run it as ./printenv.sh

  • rosdep.sh

    sudo rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y

    It will install dependencies of all pkg in the workspace. Run it in the workspace as ./rosdep.sh

  • ssh_into_another_computer.sh

    #!/bin/bash
ssh rajendra@rajendra

    It will ssh into another system. Useful when using multiple ros masters. Run it as ./rajendra.sh



Team

Or Contributors/supporters/mentors/guides who helped me out in these projects.

Abhinand A S Sachin Rustagi Swami Prasad

Contributing

To get started...

Step 1

  • Option 1

    • 🍴 Fork this repo!

  • Option 2

    • 👯 Clone this repo to your local machine using https://github.com/iamrajee/ws_moveit.git

Step 2

  • HACK AWAY! 🔨🔨🔨

Step 3

FAQ

  • I ran into some issue while running above package, what to do now?
    • Simply contact me!

Support

Reach out to me for any help!
Name : Rajendra Singh
Email : [email protected]
Web : https://iamrajee.github.io/
LinkedIn : https://www.linkedin.com/in/rajendra-singh-6b0b3a13a/
Twitter: @i_am_rajee

License

MIT License

Acknowledgments

  • Hat tip to anyone whose code was used and thanks to everyone who inspired and supported me in this project.