FurkanEdizkan / valu3s-ifarlab-sofware

VALUE3S IFARLAB Software

VALUE3S IFARLAB Software

Features

• Gazebo Simulation - Chassis analysis simulation environment with a robotic arm
• Planning and motion controller codes
• Web UI - Robot platform and task management UI
• Kawasaki RS005L - ROS conenction

Requirements

• Ubuntu 20.04
• ROS Noetic
• Python 3.8 & General Python Libraries
• MoveIt v1.1.11 - Inside Repository
• ros_control v0.19.6 - Inside Repository
• ros_controller v 0.21.0 - Inside Repository

Installation

Clone this repostiory inside ROS workspace

cd ~<user>/<workspace>/src/
git clone https://github.com/inomuh/valu3s-ifarlab-sofware.git

Install dependencies with "rosdep install"

rosdep install --from-paths src --ignore-src -r -y

Return to workspace folder then build the environment with "catkin_make"

cd ~<user>/<workspace>/
catkin_make

Source gazebo setup add gazebo models inside .bashrc

gedit ~/.bashrc

Add following lines to end of file

• source /usr/share/gazebo-11/setup.sh

• export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:~/catkin_ws/src/gazebo_models/

How to Start

Gazebo Simulation Control Start

roslaunch srvt_moveit start_simulation_system.launch

Real Robot Control Start

!!! Needs a real robot conenction to work !!!

roslaunch srvt_moveit start_simulation_system.launch

Web UI Start

~<user>/<workspace>/src/mobile_manipulator/ifarlab_web/index_v2.html

The Contributors

• Didem Özüpek Taş
• Furkan Edizkan

License

See LICENSE-APACHE and LICENSE-MIT for details.