MingshanHe / hybrid_robot_demo

This is the demo project mainly for the BUU ( Beijing Union University ) about the hybrid robot. It contains the moving platform and robot arm in 7 freedom.

Hybrid Robot Demo

This repository mainly contains the driver and algorithm codes for the hybrid robot project, which provides BUU (Beijing Union University) Robot College. The hybrid robot is consist of the moving plaform (Sage Co., Ltd) and 7 Dof robot arm (ROKAE Co., Ltd).

Goal

• Autonomy Mapping and Navigation with Avoiding Obstacles
• Object Recognition and Graspping

Dependencies

Hardware

• Moving Platform and Robot Arm
• Camera and Gripper

Software

• SLAM: `gmapping (2d Laser Mapping), move_base (Navigation Framework), rrt_exploration (Global Navigation Planner), DWA (Local Navigation Planner), A-LOM (3d Laser Mapping), TF (coordinate transform)
• Robot Control: ros_control (control interface), KDL (kinematics & dynamics library), TF (coordinate transform), Modbus & 485 (gripper communication protocol)
• Computer Vision: librealsense (realsense2 camera driver), TF (coordinate transform), aruco (object recognition), calibration

Instruction

• car_control

  In this folder, the codes are mainly for the car driver and SLAM. It contains six folders: A-LOAM is mainly for the 3d laser algorithm, dwa_planner is the avoiding algorithms, exactly local planner for the move base, rrt_exploration is the RRT algorithm realization, exactly global planner for the SLAM, lslidar_c16 is the drvier of the 3d laser, ydlidar_ros is the driver of the 2d laser. Finally, four_wheels is the car driver and control. It contains all of the launch file, which can be used in this project.

• robot_control

  In this folder, the codes are mainly for controlling the robot arm in cartesian coordinate. I have create customized message - cartesian_state_msgs. In move_control folder, it contains the gripper node and move control node, which is controlling the robot in cartesian coordinate. And it also is implemented all of the driver and executable file in launch file.

• Computer_vision

  In this folder, the codes are mainly for the camera (Intel Realsense2 D435) driver and aruco_ros. The realsense2 camera can be used in ros, which thanks to Intel Co., Ltd. In the camera file, it can register the node in the ros master and transform the captured image.

Epitome