This metapackage enables to use and control the KMRIIWA robot using ROS. It provides packages for robot's navigation, manipulation, visualisation and simulation. A brief description of thsee packages and a usage guide follows.
Note that this package depends on the kmriiwa_ros_java driver to be running on the robot for its control.
This pakcage was tested on Ubuntu 20.04 with ROS noetic distro
This package bringups the robot description and its tf transformations to the ros network. It also allows to bringup the full planning stack of the robot.
This package contains the robot's URDFs, meshes and Gazebo descriptions.
This package allows moveit to control the LBR-IIWA14 arm. Currently, this package only utilises a FollowJointTrajectory action server running on the robot to execute manipulation trajectories. No low level ros_control is available. This is limitation is explained in kmriiwa_ros_java driver.
This package allows to control the KMP200 base using the navigation stack. It utilises move_base, amcl, teb_local_planner and ros_local_planner packages to control the robot. In addition, gmapping package is used to create SLAM maps.
This package contains custom ros messages specific to the KMRIIWA robot that allows to convey its status.
This package allows to simulate the robot in Gazebo. It exposes the same interfaces as the robot driver and allows to control both the base and the arm.
This package contain different rviz configs to visualise the robot in different contexts.
To install this package, all its dependencies can be retrieved using rosdep except ira_laser_tools that needs to be added to your workspace. As a result, to successfully build this package follow these steps:
src directory of your ROS workspace (e.g. cd ~/ros_ws/src)git clone https://github.com/iralabdisco/ira_laser_toolscd ~/ros_wsrosdep install --from-paths src --ignore-src -r -ycatkin_make (or catkin_make_isolated if you use isolated builds)To run this package, kmriiwa_ros_java driver needs to be installed on the robot controller. Refer to that package README.md for setup and usage instructions.
The developed stack supports multi-robot applications out of the box and as a result all of its packages run inside a namespace by default. This behavior is controlled via the use_namespace and robot_name arguments accepted by all the relevent launch scripts. The used namespace is equivalent to the robot_name argument inside those launch scripts. If for some reason, you need to run these packages without namespace, set the argument use_namespace to false when starting the specific launch script (append use_namespace:=false to the specific roslaunch command).
Regardless of that, always make sure the robot_name argument is equivlent to the parameter robot_name set on the driver's application ProcessData running on the controller. If those are different, nothing will work
Once the kmriiwa_ros_java driver is up and running on the robot controller. Launch the robot bringup package to upload the robot description and publish its tf information:
roslaunch kmriiwa_bringup kmriiwa_bringup.launchIf the robot_name parameter on the driver is set to another name instead of the default name (kmriiwa), then it needs to be passed to the bringup script as follows:
roslaunch kmriiwa_bringup kmriiwa_bringup.launch robot_name:=<new_robot_name>Furthermore, if you want to disable using namespaces set use_namespace to false as follows:
roslaunch kmriiwa_bringup kmriiwa_bringup.launch use_namespace:=falseAfter that the robot is ready to be used by moveit and the navigation stack. To launch both stacks at the same time use:
roslaunch kmriiwa_bringup planning_stack_bringup.launch rviz:=<true|false> no_static_map:=<true|false> map_file:=<path/to/map/file> use_namespace:=<true|false> robot_name:=<new_robot_name>If the rviz argument is set to true, rviz will launch and can be used to control the robot. If the robot is to be used in a known environment, the argument no_static_map need to be set to false and the argument map_file need to be specified. Otherwise, it is not used.
To run the planning stack with a different robot name as set on the driver ProcessData, set robot_name to be equivalent to that value. If the names are different nothing will work. Finally, to disable launching all the planning nodes inside robot_name namespace set use_namespace to false.
To use it moveit, run the command:
roslaunch kmriiwa_moveit move_group.launchThis also accepts robot_name and use_namespace arguments and exhibts the behaviors previously discussed.
To bringup rviz with moveit settings use:
roslaunch kmriiwa_vis moveit_view.launchTo use the navigaion stack in an unknown map use:
roslaunch kmriiwa_navigation mapless_navigation.launch rviz:=<true|false>If the rviz argument is set to true, rviz will launch and can be used to navigate the robot.
To create a map for navigation start gmapping first:
roslaunch kmriiwa_navigation gmapping.launchThen jog the real robot in your map using the SmartPad while trying to cover most of the space in slow controlled motions. When done with robot jogging in the map, in a new terminal cd to your prefered directory and run
rosrun map_server map_server -f <map_name>This should save the map to your disk. Now you can stop the gmapping node.
To use the navigaion stack in an known map use:
roslaunch kmriiwa_navigation map_navigation.launch rviz:=<true|false> map_file:=<path/to/map/file>If the rviz argument is set to true, rviz will launch and can be used to navigate the robot.
Finally, each of these launch files accept other arguments not mentioned here, refere to these files for more information. Moreover, the various navigation configs that include global costmap, local costmap and local planner can be reconfigured if needed.
To launch the robot in gazebo simulation in empty world use:
roslaunch kmriiwa_gazebo kmriiwa_empty_world.launchA more interesting world to launch is test_zone. To use this world:
roslaunch kmriiwa_gazebo kmriiwa_test_zone.launchAfter launching any of the previous worlds, the combined planning stack (planning_stack_bringup.launch) can be launched to start controlling the simulated robot. Alternatively, to launch moveit or the navigation stack individually, use any of the previously described commands.