The Husky UR3 mobile manipulation tutorial will show you how to operate a mobile manipulation robot using Gazebo, RViz, MoveIt, and the UR3 arm.
In this package, the Gazebo simulation enviroment based on the stockroom world, also you can subscribe pose of the ar_track_alvar.
Author:
Affiliation: Human-Robot Interaction LAB, Kyung Hee Unviersity, South Korea
- Before do this, please backup important files.
- This pacakge is based on the husky_ur3_manipulator 'melodic' branch.
Therefore, please do it after intallation of the huksy_ur3_manipulator.
- For subscribe ar markers, ar_track_alvar
$ sudo apt-get install ros-melodic-ar-track-alvar
- For stockroom gazebo world.
stockroom world
$ cd ~/Downloads && git clone https://github.com/Jpub/ROS.git
$ cd ROS
$ cp -r stockroom_bot ~/catkin_ws/src
$ gedit ~/.bashrc
export GAZEBO_MODEL_PATH=${HOME}/catkin_ws/src/stockroom_bot/models
$ cd ~/catkin_ws && catkin_make
$ rospack profile && rosstack profile
$ cd ~/catkin_ws/src && git clone https://github.com/MrLacquer/husky-ur3-stockroom.git
$ cd ~/catkin_ws && catkin_make
$ rospack profile && rosstack profile
- Bring up Gazebo and the Husky UR3 manipulator,
$ roslaunch husky_ur3_stockroom husky_ur3_stookroom.launch
- Bring Up MoveIt & RViz
$ roslaunch husky_ur3_test_moveit_config husky_ur3_planning_execution.launch
$ roslaunch husky_ur3_stockroom husky_ur3_amcl_stockroom.launch
$ roslaunch husky_ur3_stockroom husky_ur3_stockroom_rviz.launch
- Contorlling the UR3 manipulator (more detail [ur3-moveit-test](https://github.com/MrLacquer/ur3-moveit-test.git))
$ rosrun husky_ur3_stockroom husky_ur3_stockroom_control.py
