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jsk-ros-pkg / jsk_control

jsk control ros packages
http://github.com/jsk-ros-pkg/jsk_control
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add eus_teleop #781

Closed knorth55 closed 1 year ago

knorth55 commented 1 year ago

this PR add eus_teleop package for robot teleoperation and telemanipulation

Demos

Please see README.md for more detailed info.

PR2 + Vive

https://user-images.githubusercontent.com/9300063/213145161-4b2acb89-9545-460a-b5cc-d05a111a187b.mp4

PR2 + Vive in JSK 73B2 or 610

rossetip
rossetmaster pr1040
# HMD mode
roslaunch eus_teleop pr2_vive.launch
# No HMD mode
roslaunch eus_teleop pr2_vive.launch head:=false

PR2 + Vive in Gazebo

roslaunch pr2_gazebo pr2_empty_world.launch
roslaunch eus_teleop pr2_vive_gazebo.launch

PR2 + Tablis

(simulator)

https://user-images.githubusercontent.com/9300063/208720417-176d698e-3789-42a8-931f-2a9fc9e062a0.mp4

(real robot)

https://drive.google.com/file/d/1U7BnsEK5j5jWDCsuhvioo21u30YasvTr/view?usp=share_link https://drive.google.com/file/d/1xHRf7cN0O6TqJ9_x4NUk6oKtRZp3VsMW/view?usp=share_link

PR2 + Tablis in JSK 73B2 or 610

rossetip
rossetmaster pr1040
roslaunch eus_teleop pr2_tablis.launch

PR2 + Tablis in Gazebo

Launch Tablis in Choreonoid
roscd eus_teleop/scripts/tablis
./start-tablis-sim.sh
roscd eus_teleop/scripts/tablis
ipython -i tablis_setup.py
hcf.servoOn()
hcf.hc_svc.startHapticsController()
Launch bridge
roscd eus_teleop/scripts/tablis
./start-bridge-sim.sh
Launch PR2 in Gazebo
roslaunch pr2_gazebo pr2_empty_world.launch
roslaunch eus_teleop pr2_tablis_gazebo.launch

PR2 + SpaceNav

https://user-images.githubusercontent.com/9300063/213137459-ce5f7075-acee-4a47-934a-97a4296fdc49.mp4

PR2 + SpaceNav in JSK 73B2

rossetip
rossetmaster pr1040
roslaunch eus_teleop pr2_spacenav.launch

PR2 + SpaceNav in Gazebo

roslaunch pr2_gazebo pr2_empty_world.launch
roslaunch eus_teleop pr2_spacenav_gazebo.launch

Baxter + Vive

https://user-images.githubusercontent.com/9300063/213144997-0d224d5c-b462-43a7-b759-0233fff41d94.mp4

Baxter + Vive in JSK 73B2

rossetip
rossetmaster baxter
# HMD mode
roslaunch eus_teleop baxter_vive.launch
# No HMD mode
roslaunch eus_teleop baxter_vive.launch head:=false

Baxter + Vive in Gazebo

roslaunch baxter_gazebo baxter_world.launch
roslaunch eus_teleop baxter_vive_gazebo.launch

Baxter + Tablis

https://user-images.githubusercontent.com/9300063/208720482-b7ef0abb-e948-448c-be51-521c0c7af8a2.mp4

Baxter + Tablis in JSK 73B2 or 610

rossetip
rossetmaster baxter
roslaunch eus_teleop baxter_tablis.launch

Baxter + Tablis in Gazebo

Launch Tablis in Choreonoid
roscd eus_teleop/scripts/tablis
./start-tablis-sim.sh
roscd eus_teleop/scripts/tablis
ipython -i tablis_setup.py
hcf.servoOn()
hcf.hc_svc.startHapticsController()
Launch bridge
roscd eus_teleop/scripts/tablis
./start-bridge-sim.sh
Launch Baxter in Choreonoid
roslaunch baxter_gazebo baxter_world.launch
roslaunch eus_teleop baxter_tablis_gazebo.launch

Baxter + SpaceNav

Baxter + SpaceNav in JSK 73B2

rossetip
rossetmaster baxter
roslaunch eus_teleop baxter_spacenav.launch

Baxter + SpaceNav in Gazebo

roslaunch baxter_gazebo baxter_world.launch
roslaunch eus_teleop baxter_spacenav_gazebo.launch

Baxter + MoveIt!

Real Robot in JSK 73B2

rossetip
rossetmaster baxter
roslaunch eus_teleop baxter_moveit.launch

Dragon + SpaceNav

https://user-images.githubusercontent.com/9300063/210754022-7df92fd5-4875-4465-9738-7efdf5649093.mp4

Dragon + SpaceNav in Gazebo

roslaunch dragon bringup.launch simulation:=true real_machine:=false headless:=false
roslaunch eus_teleop dragon_spacenav_gazebo.launch

JAXON + SpaceNav

https://user-images.githubusercontent.com/9300063/212047815-e1f2a5ed-cf51-4782-b892-66752effe41d.mp4

JAXON + SpaceNav in Choreonoid

Launch JAXON in Choreonoid
roscd eus_teleop/scripts/jaxon
./start-jaxon_with_rhp3hand-sim.sh
roscd eus_teleop/scripts/jaxon
ipython -i jaxon_with_rhp3hand_setup.py
hcf.ast_svc.startAutoBalancer()
hcf.ast_svc.startStabilizer()
hcf.ast_svc.startWholeBodyMasterSlave()
Launch eus_vive for SpaceNav
roslaunch eus_teleop jaxon_spacenav_choreonoid.launch

JAXON + Tablis

https://user-images.githubusercontent.com/9300063/212932317-407102d1-093f-4729-b00a-f367bbbcb40d.mp4

JAXON + Tablis in Choreonoid

Launch Tablis in Choreonoid
roscd eus_teleop/scripts/tablis
./start-tablis-sim.sh
roscd eus_teleop/scripts/tablis
ipython -i tablis_setup.py
hcf.servoOn()
hcf.hc_svc.startHapticsController()
Launch JAXON in Choreonoid
roscd eus_teleop/scripts/jaxon
./start-jaxon_with_rhp3hand-sim.sh
roscd eus_teleop/scripts/jaxon
ipython -i jaxon_with_rhp3hand_setup.py
hcf.ast_svc.startAutoBalancer()
hcf.ast_svc.startStabilizer()
hcf.ast_svc.startWholeBodyMasterSlave()
Launch bridge and wbms core
roscd eus_teleop/scripts/jaxon
./start-jaxon-eus-teleop-sim.sh
Launch eus_vive for Tablis
roslaunch eus_teleop jaxon_tablis_choreonoid.launch

cc. @pazeshun @Naoki-Hiraoka @Kanazawanaoaki