The Husky UR3 mobile manipulation tutorial will show you how to operate a mobile manipulation robot using Gazebo, RViz, MoveIt, and the UR3 arm.
There will be full control and actuation of the robot, and the software written for this robot can be translated into real world actions with the real Husky UR3 robot.
Author:
- Kinetic version - Hyeonjun Park, koreaphj91@gmail.com
- Melodic version - Sang-heum Lee, humine@khu.ac.kr
Affiliation: Human-Robot Interaction LAB, Kyung Hee Unviersity, South Korea
- Before do this, please backup important files.
This software is built on the Robotic Operating System (ROS).
There are some prerequisites should be set up before install the ROS melodic. Check the link below.
Installation guide for ROS melodic version
For Desktop-Full Install(Recommended)
$ sudo apt install ros-melodic-desktop-full
Additionally, LMS1xx for ROS depends on following software(LMS1xx ROS wiki)
sudo apt-get install ros-melodic-lms1xx
- For contorling unversal robot with Moveit! python interface.
ur3-moveit-test
$ cd ~/catkin_ws/src && git clone https://github.com/MrLacquer/ur3-moveit-test.git
$ cd ~/catkin_ws && catkin_make
$ rospack profile && rosstack profile
- For hector_gazebo plugnins.
hector_gazebo
$ cd ~/catkin_ws/src && git clone https://github.com/tu-darmstadt-ros-pkg/hector_gazebo.git
$ cd ~/catkin_ws && catkin_make
$ rospack profile && rosstack profile
- For hector slam
hector-slam
$ cd ~/catkin_ws/src && git clone https://github.com/tu-darmstadt-ros-pkg/hector_slam.git
$ cd ~/catkin_ws/src/hector_slam
$ git checkout catkin
$ cd ~/catkin_ws && catkin_make
$ rospack profile && rosstack profile
- For husky mobile robot control
four-wheel-steer-teleop
$ cd ~/catkin_ws/src && git clone https://github.com/gkouros/four-wheel-steer-teleop.git
$ cd ~/catkin_ws && catkin_make
$ rospack profile && rosstack profile
$ cd ~/catkin_ws/src && git clone https://github.com/MrLacquer/husky_ur3_manipluator.git
$ cd ~/catkin_ws && catkin_make
$ rospack profile && rosstack profile
- Bring up Gazebo and the Husky, driving the husky base using keyboard:
$ roslaunch husky_ur3_gazebo husky_ur3.launch
$ rosrun teleop_twist_keyboard teleop_twist_keyboard.py
- Bring Up MoveIt & RViz
-> With new version of moveit_config file, you only have to launch demo file. (2020.06.05)
$ roslaunch husky_ur3_sim_moveit_config demo.launch
- Contorlling the UR3 manipulator
$ rosrun ur3_moveit ur3_move.py
or
$ rosrun ur3_moveit ur3_demo.py
(more detail ur3-moveit-test)
- Husky UR3 manipulator with hector slam
$ roslaunch husky_ur3_gazebo husky_ur3.launch
*(Optional)* $ roslaunch husky_ur3_test_moveit_config husky_ur3_planning_excution.launch
$ roslaunch husky_ur3_moveit_config moveit_rviz.launch
$ roslaunch husky_ur3_navigation husky_ur3_mapping.launch
$ rosrun four_wheel_steer_teleop four_wheel_steer_teleop.py
- Husky UR3 manipulator with gmapping(2020.06.05 added)
$ roslaunch husky_ur3_gazebo husky_ur3.launch
$ roslaunch husky_ur3_navigation gmapping.demo.launch
$ roslaunch husky_ur3_navigation mapping_rviz.launch
To save the generated map, you can run the map_saver utility:
$ rosrun map_server map_saver -f <filename>
- Husky UR3 manipulator naviagation
$ roslaunch husky_ur3_gazebo husky_ur3.launch
*(Optional)* $ roslaunch husky_ur3_test_moveit_config husky_ur3_planning_excution.launch
$ roslaunch husky_ur3_moveit_config moveit_rviz.launch
$ roslaunch husky_ur3_navigation amcl_demo.launch
$ roslaunch husky_ur3_navigation rviz_nav.launch
2020.03.25: husky robot's IMU data is missing. We're trying to fixing this problems.
-> It has been fixed. The problem is 'control.yaml' file.
Thank you! Sang-heum Lee- Gaitech-robotics supported us to update this package.
