STRLRobotics open platform for mobile manipuation

Description

This repository contains the STRLRobotics platform software in the form of a set of ROS 1 (Melodic / Noetic) modules for an autonomous mobile agent with a manipulator (based on the Husky mobile platform with a UR5 manipulator). The developed system allows you to perform the tasks of moving and interacting with surrounding objects.

Modules

High-level planning (Strategic level)

• High-level planning is implemented in the form of a behavior tree, which can take as input a set of tasks from a finite list (FIND, MOVE_TO, PUT, PICK) with their arguments (object types and/or locations). This node monitors the correct execution of the sequence. code

Query-based object segmentation (Tactical level)

• Open-vocabluary model for 2D object segmentation on text query. code

Tracking found objects (Tactical level)

• Nodes for 2D and 3D object tracking. code
• 6DoF pose estimation of objects. code

Localization and occupancy map reconstruction (Tactical level)

• LiDAR localization based on Cartographer. code
• A node for constructing an occupancy map based on RTabMap. code

Planning and controlling the movement of a mobile platform (Tactical level)

• Global planning based on Theta*. code
• Model predictive control algorithm code
• General control code

Planning and controlling the movement of the manipulator (Tactical level)

• Nodes for executing motion trajectories without collisions with local obstacles. code

Formation of control actions and obtaining the state of joints and gripper of the manipulator (Reactive level)

• Add-on for API UR5 for the operation of the manipulator.

If you use our code please cite our paper:

@article{mironov2023strl,
  title={STRL-Robotics: intelligent control for robotic platform in human-oriented environment},
  author={Mironov, KV and Yudin, DA and Alhaddad, M and Makarov, DA and Pushkarev, DS and Linok, SA and Belkin, IV and Krishtopik, AS and Golovin, VA and Yakovlev, K and Panov, AI},
  journal={Artificial Intelligence and Decision Making},
  number={2},
  pages={45--63},
  year={2023}
}