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.

iSaran / simple_grasper