Simple Grasper
ROS node for sending grasping pose and hand configurations using MoveIt! with KUKA and BHand.
Install
For Ubuntu 16.04, ROS Kinetic.
Within the catkin workspace src directory:
git clone https://github.com/auth-arl/simple_grasper.git
git clone https://github.com/auth-arl/autharl_core.git
cd autharl_core
git checkout simple-grasper-devel
./install.sh
Then catkin_make
.
Run
Rviz and robot services
Run the following launch files/nodes in different terminals:
Before anything launch RViz and URDF:
roslaunch rosba_launch display.launch
Run grasper which provides home
and grasp
services:
roslaunch rosba_grasper run.launch
Camera
If you have the camera mounted on the robot run:
roslaunch openni2_launch openni2.launch camera:=asus_xtion publish_tf:=false
If the camera is not on the robot:
roslaunch openni2_launch openni2.launch camera:=asus_xtion
And then put the april tags on the table and calibrate:
rosrun camera_robot_calibration calibrate
Then publish the calibration transformation to TF:
rosrun camera_robot_calibration tf_broadcaster
If you want to test if BHand works run:
rosrun bhand_test bhand_robot_test
If BHand does not initialized properly (Finger 1 might not open) initialize multiple times with:
rosrun bhand_test bhand_reset
Services
home
: Sends the KUKA arm to home position.grasp
: Sends the KUKA arm to grasping pose and closes the fingers to the desired configuration.
Configuration
Set parameters in rosba_grasper/config/config.yml
.