artificial_body
This repository contains perception, planning and control models of an Autonomous Mobile Robot equipped with a Robotic Arm.
Installation of Open Manipulator X on Ubuntu 16.04 with ROS Kinetic and Gazebo 7
- Install Docker https://www.digitalocean.com/community/tutorials/how-to-install-and-use-docker-on-ubuntu-20-04-pt
- Install Luffer https://github.com/aforechi/luffer.git
- Install ROS Kinetic https://github.com/aforechi/luffer/blob/master/docs/ROS.md
- Compile ROS Kinetic packages https://emanual.robotis.com/docs/en/platform/openmanipulator_x/quick_start_guide/
- Run Gazebo Simulation https://emanual.robotis.com/docs/en/platform/openmanipulator_x/ros_simulation/
- Run Robotis Manipulation https://emanual.robotis.com/docs/en/platform/openmanipulator_x/ros_controller_package/
Installation of Drake Toolbox (https://drake.mit.edu)
- Install Drake from binary https://drake.mit.edu/from_binary.html
cd ~
wget https://github.com/RobotLocomotion/drake/releases/download/v1.1.0/drake-20220328-mac.tar.gz
mkdir -p env/drake
tar -xvzf drake-20220328-mac.tar.gz -C env/drake --strip-components=1
python3 -m venv env/drake --system-site-packages
source env/drake/bin/activate
env/drake/share/drake/setup/install_prereqs
1.1 Config firewall according to http://lcm-proj.github.io/multicast_setup.html
- Run the particles example
git clone https://github.com/RobotLocomotion/drake-external-examples.git
cd drake-external-examples
mkdir drake_cmake_installed-build && cd drake_cmake_installed-build
cmake -DCMAKE_PREFIX_PATH=~/env/drake ../drake_cmake_installed
make
env/drake/bin/drake-visualizer &
(cd src/particles && exec ./uniformly_accelerated_particle)
- Run the kuka iiwa example
cd ~/artificial_body
mkdir build && cd build && cmake .. && make && cd ..
env/drake/bin/drake-visualizer &
./build/src/kuka_iiwa_arm/kuka_simulation &
./build/src/kuka_iiwa_arm/kuka_plan_runner &
./build/src/kuka_iiwa_arm/move_iiwa_ee -x 0.8 -y 0.3 -z 0.25 -yaw 1.57
Manipulation Demo
- Install Blender sudo apt install blender
- Export Open Manipulator X to URDF format
cd ~/catkin_ws/src/open_manipulator/open_manipulator_description/urdf
rosrun xacro xacro open_manipulator.urdf.xacro > open_manipulator.urdf
cd ~/artificial_body/scripts && ./convert_stl_to_blend.sh ~/catkin_ws/src/open_manipulator/open_manipulator_description/meshes
gz sdf -p open_manipulator.urdf > open_manipulator.sdf
- Run demo.ipynb
cd ~/artificial_body/notebooks
drake-visualizer& or bazel run //tools:meldis -- --open-window &
jupyter notebook