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uam_ros_pkg

ROS pkg for aerial manipulators used on kopterworx UAV.

Currently configured for the ASAP manipulator which has quite simple configuration.

How to start real robot?

You can start real robot by running following commands:

Run real robot (motor controllers) with:

roslaunch dynamixel_workbench_controllers arm_dynamixel_controllers.launch

Run moveit without gazebo as follows:

roslaunch uam_moveit_config demo_gazebo.launch real_robot:="true" gazebo:="false"

Run correct moveit as follows:

roslaunch uam_moveit_config demo.launch

After running kopterworx with the aerial manipulator from ardupilot_gazebo package.

Comments

If you want to edit spawn pose of the robot manipulator, edit demo_gazebo.launch arguments.

Deps

Currently docker misses some dependencies so it is neccessary to install them by hand as follows:

sudo apt-get install ros-noetic-topic-tools \
	ros-noetic-controller-manager \
	ros-noetic-rviz \
	ros-noetic-moveit \
	ros-noetic-moveit-simple-controller-manager

After that run: source /opt/ros/noetic/setup.bash cd /root/catkin_ws catkin build

And then you can run

roslaunch uam_ros_pkg uam_ros_ctl.launch

TODO:

  • Enable simple control of the real manipulator (remapping moveit trajectory)
  • Write simple control node for the manipulator in the ROS pkg uam_ctl
  • Add joint limits
  • Change planner
  • Test moveit movement
  • Enable control_arm_node
  • Publish end effector position on the topic
  • Added topic relay for the moveit (state publishing)
  • Test with different planning frame on the UAV
  • Test with moveit servo
  • Filter out topics that are needed, and ones that are not!
  • Enable joint commands
  • Add functionality for simple trajectory execution
  • Test on real UAM (real manipulator)
  • REFACTOR EVERYTHING!