antarikshnarain / Fetch-Robotics-simulation

Repository for Fetch Robotics simulation and POCs

Fetch-Robotics-simulation

Repository for Fetch Robotics simulation and POCs

Setup

1. Refer the documentation https://docs.fetchrobotics.com/gazebo.html

Running the project

$ cd ros_ws
$ catkin init
$ catkin build

Running samples

1. Simulate simple Robot
   1. Fetch : roslaunch sim_fetch_gazebo simulation.launch
   2. Freight : roslaunch sim_fetch_gazebo simulation.launch robot:=freight
2. Demo Fetch Robot
   1. Run environment: roslaunch sim_fetch_gazebo playground.launch
   2. Load demo launch file: roslaunch fetch_gazebo_demo demo.launch
   3. Run Python file: python2 demo.py
3. Control with keyboard
   1. Run environment: roslaunch sim_fetch_gazebo simulation.launch
   2. Run Teleop keyboard: rosrun teleop_twist_keyboard teleop_twist_keyboard.py
4. Manipulation of Robot
   1. Preconfigured with Rviz roslaunch fetch_moveit_config demo.launch
   2. Control with python
      1. Start simulation: roslaunch sim_fetch_gazebo simulation.launch
      2. Run python code: python robot_motion.py