husky_ur3_simulator Robogym version

Overview

This is a mobile manipulator simulator package using Gazebo, RViz, MoveIt, move_base.

The model of the mobile manipulator robot was created by combining Universal Robots's UR3 and Clearpath Robotics's Husky.

This package is operating in noetic and for reinforcement learning using robo-gym.

Author:

• MyungHyun Kim, kmh8667@khu.ac.kr

Add some plugin for learning(collision detect, ground truth pose.. etc) and modified urdf

Affiliation: Human-Robot Interaction LAB, Kyung Hee Unviersity, South Korea

Installation

Dependencies

This software is built on the Robotic Operating System (ROS).

• For Husky mobile robot control & navigation install

$ sudo apt-get install ros-noetic-husky-*
$ sudo apt-get install ros-noetic-ddynamic-reconfigure
$ sudo apt-get install ros-noetic-imu-filter-madgwick
$ sudo apt-get install ros-noetic-imu-transformer

• For MoveIt install

$ sudo apt-get install ros-noetic-moveit

• For ar_track_alvar package install

$ cd ~/catkin_ws/src
$ git clone -b noetic-devel https://github.com/QualiaT/ar_track_alvar.git
$ cd ~/catkin_ws && catkin_make
$ rospack profile && rosstack profile

husky_ur3_simulator install

$ cd ~/catkin_ws/src
$ git clone -b robogym-devel https://github.com/kmh8667/Husky_UR3/tree/robogym-devel

$ cd ~/catkin_ws && catkin_make
$ rospack profile && rosstack profile

Installation of dependencies for using gripper

- robotis_controller_msgs install
$ git clone https://github.com/ROBOTIS-GIT/ROBOTIS-Framework-msgs.git

- dynamixel_sdk install
$ git clone -b noetic-devel https://github.com/ROBOTIS-GIT/DynamixelSDK.git

- robotis_controller install
$ git clone https://github.com/ROBOTIS-GIT/ROBOTIS-Framework.git

- ros_controllers
$ sudo apt-get install ros-noetic-ros-controllers

For Realsense SDK 2.0 Installation

$ sudo apt-key adv --keyserver keys.gnupg.net --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE
$ sudo add-apt-repository "deb http://librealsense.intel.com/Debian/apt-repo focal main" -u

$ sudo apt-get install librealsense2-dkms
$ sudo apt-get install librealsense2-utils
$ sudo apt-get install librealsense2-dev
$ sudo apt-get install librealsense2-dbg

# test
$ realsense-viewer

For Realsense ROS package Installation

$ export ROS_VER=noetic
$ sudo apt-get install ros-noetic-realsense2-camera
$ cd ~/catkin_ws/src/
$ git clone https://github.com/IntelRealSense/realsense-ros.git
$ cd realsense-ros/
$ git checkout `git tag | sort -V | grep -P "^2.\d+\.\d+" | tail -1`
$ cd ~/catkin_ws/
$ catkin_make

How to start?

- Bring up Gazebo with the robot model
$ roslaunch husky_ur3_gazebo husky_ur3_HRI_lab.launch

- Bring up MoveIt & RViz
$ roslaunch husky_ur3_gripper_moveit_config Omni_control.launch

- If you want to navigation using map, type the following command.
$ roslaunch husky_ur3_navigation husky_ur3_in_HRI_lab_amcl.launch

How to use gripper?

- gripper open
$ rostopic pub -1 /rh_p12_rn_position/command std_msgs/Float64 "data: 0.0"

- gripper close
$ rostopic pub -1 /rh_p12_rn_position/command std_msgs/Float64 "data: 1.05"