Getting Started

Table of Contents

• Requirements
• Setup
  • Install some dependent packages (ecl-geometry and MoveIt!)
  • Grab the hlpr_manipulation package
  • Grab the wpi_jaco packages
  • Grab external messages
  • Build the workspace
• Launch MoveIt! pipeline
• Testing MoveIt! using Rviz

Requirements

• Ubuntu 14.04 Trusty (this is the only distro we've tested on so far)
• ROS Indigo
• Stanley Vector Repo

Setup

This assumes you are continuing from the installation from the Stanley wiki.

Install some dependent packages (ecl-geometry and MoveIt!)

1. sudo apt-get install ros-indigo-ecl-geometry
2. sudo apt-get install ros-indigo-moveit-full
3. sudo apt-get install ros-indigo-trac-ik

Grab the hlpr_manipulation package and its dependencies

1. Clone the hlpr_manipulation package
2. Add the hlpr_manipulation package to your catkin_ws

• ln -s ~/Software/HLP-R/hlpr_manipulation/ ~/vector_ws/src/

3. RAIL_messages repo

• user@computer:~/Software$ git clone https://github.com/GT-RAIL/rail_manipulation_msgs.git
• ln -s ~/Software/HLP-R/rail_manipulation_msgs ~/vector_ws/src/

4. Run catkin_make on your workspace

Grab the wpi_jaco packages

Get the wpi_jaco packages repo

1. Note: make sure to pull the vector_develop branch

• user@computer:~/Software$ git clone -b vector-develop https://github.com/GT-RAIL/wpi_jaco.git

2. "Install" the necessary packages (wpi_jaco_msgs, wpi_jaco_wrapper, and jaco_sdk) in vector_ws

• ln -s ~/Software/wpi_jaco/wpi_jaco_msgs/ ~/vector_ws/src/
• ln -s ~/Software/wpi_jaco/wpi_jaco_wrapper/ ~/vector_ws/src/
• ln -s ~/Software/wpi_jaco/jaco_sdk/ ~/vector_ws/src/

Grab other external messages

1. Robotic Gripper repo

• user@computer:~/Software/stanley$ git clone https://github.com/StanleyInnovation/robotiq_85_gripper.git

2. "Install" the necessary packages

• ln -s ~/Software/rail_manipulation_msgs/ ~/vector_ws/src/
• ln -s ~/Software/stanley/robotiq_85_gripper/robotiq_85_msgs/ ~/vector_ws/src/
  • Note: We're only installing the robotiq_85_msgs from the robotiq_85_gripper repo

Build the workspace

Note: You need to resource your bashrc or just open up a new terminal after install MoveIt!

• user@computer:~/vector_ws$ catkin_make
• If you get errors about wpi_jaco - just trying building again first (or run catkin_make -j1)

Launch MoveIt! pipeline

The MoveIt! configuration launch file has several flags that can be set to determine what portion of MoveIt! is launched.

Note: Currently, by default these are all set to true

The launch file is located: ~/vector_ws/src/hlpr_manipulation/hlpr_wpi_jaco_moveit_config/launch/hlpr_wpi_jaco_simple_moveit.launch

• wpi_jaco_launch: This flag will launch the wpi_jaco_arm launch file arm.launch. This is currently the main driver we're using to interface with the arm
• use_wpi_jaco_exec: This flag tells MoveIt! that we want to use the wpi_jaco_wrapper controllers to send commands when interfacing with MoveIt! If you do not want to send commands through MoveIt! then this can be sent to false. Warning You cannot set this to true and set wpi_jaco_launch to false. MoveIt! will look for the wpi_jaco_wrapper driver and will crash because it cannot find it
• sim: This flag tells wpi_jaco_wrapper that we're in simulation and to send trajectories through simulation and not through the real robot. Set this true if you're in simulation

1. Launch MoveIt!

• roslaunch hlpr_wpi_jaco_moveit_config hlpr_wpi_jaco_simple_moveit.launch

Note: this won't work until you go and finish installing the Simulation stack. Go do that now if you are getting errors...

Testing MoveIt! using Rviz

Read how to use MoveIt! plugin if not familiar tutorial

1. Run rviz

• rosrun rviz rviz

2. Set the fixed frame to base_link if no map
3. Add moveit_ros_visulation/MotionPlanning

You can use the interactive markers for the end-effector or use the planning tab to generate a random trajectory