lincoln_youbot

Testing the simulation environment

1)Launch the gazebo simulation: roslaunch youbot_gazebo_robot youbot.launch

2)Open a seperate terminal, and use the following code for testing the simulation:

rostopic pub  /arm_1/arm_controller/command trajectory_msgs/JointTrajectory "header:
  seq: 0
  stamp:
    secs: 0
    nsecs: 0
  frame_id: ''
joint_names: ["arm_joint_1","arm_joint_2","arm_joint_3","arm_joint_4","arm_joint_5"]
points:
- positions: [0.6,0.0,0.0,0.0,0.0]
  velocities: [0.1,0.1,0.1,0.1,0.1]
  accelerations: [0.1,0.1,0.1,0.1,0.1]
  effort: [0]
  time_from_start: {secs: 1, nsecs: 0}"

Setting up Moveit

1)Install essential ROS and Moveit! packages:

sudo apt-get install python-wstool ros-indigo-roscpp ros-indigo-pluginlib ros-indigo-urdf \
  ros-indigo-tf-conversions ros-indigo-joint-state-publisher \
  ros-indigo-robot-state-publisher ros-indigo-xacro \
  ros-indigo-moveit-core ros-indigo-moveit-ros-move-group \
  ros-indigo-moveit-planners-ompl ros-indigo-moveit-ros-visualization

2)Add the youbot_manipulation repository

cd ~/catkin_ws/src
git clone https://github.com/svenschneider/youbot-manipulation.git
cd ..
catkin_make
source ./devel/setup.bash

3)Launch simulation

roslaunch youbot_gazebo_robot youbot.launch 

4)Start Moveit!

roslaunch youbot_moveit move_group.launch

5)Start Moveit! commander

rosrun moveit_commander moveit_commander_cmdline.py

6)The following code may be used to move the arm into the candle position

> use arm_1
arm_1> go candle

Moveit with rospy

See sample code:

#!/usr/bin/env python
import sys
import copy
import rospy
import moveit_commander
import moveit_msgs.msg
import geometry_msgs.msg
from std_msgs.msg import String

def Init():
    pub = rospy.Publisher('chatter',String)
    moveit_commander.roscpp_initialize(sys.argv)
    rospy.init_node('helloworld',anonymous=True)
    robot = moveit_commander.RobotCommander()
    scene = moveit_commander.PlanningSceneInterface()
    group = moveit_commander.MoveGroupCommander("arm_1")

    group_var_vals = group.get_current_joint_values()
    group_var_vals[0] = 0.1
    group_var_vals[3] = 0.9
    group.set_joint_value_target(group_var_vals)
    plan = group.plan()
    group.go()

    print group_var_vals

if __name__ == '__main__':
    try:
        Init()
    except rospy.ROSInterruptException:
        pass

Running the demo program

This demo program will launch terminal windows for the gazebo simulation, and moveit/moveit commander.

1) Get files from project repo

sudo git clone https://github.com/LCAS/lincoln_youbot.git

2) Open and new terminal, and execute the demo bash file

bash lincoln_youbot/Demo/Demo.sh