A mobile manipulator with automatic detection (Detects the dreen boxes automatically)
Dependancies Installation The following dependencies have been added (to add in you catkin workspace) :
UR5 : Used to generate a urdf file to merge to the base . Install with :
cd $HOME/catkin_ws/src
git clone https://github.com/ros-industrial/universal_robot.git
robotiq : Used to generate a gripper urdf file to merge to the base . Install with :
cd $HOME/catkin_ws/src
git clone https://github.com/filesmuggler/robotiq.git
catkin build # (or cd .. && catkin_make)
Moveit : The standard robot arm manipulation for ROS. See installation instruction HERE :
https://github.com/ros-planning/moveit_resources/blob/master/panda_moveit_config/config/panda.srdf
For cartesian command usage
rosrun object_identificator arm_cartesian_command_node -h
Install trac_ik_kinematics_plugin :
sudo apt-get install ros-$ROS_DISTRO-trac-ik-kinematics-plugin
Usage : Launch the nodes with : After compiling the repository
roslaunch mobile_manipulator mobile_manipulator_show.launch
For grabbing enabling (although it will most likely fail due to bad frame transformation) :
rosrun object_identificator arm_cartesian_command_node -a arm_body -t gripper_body -m /arm/goal
And then, in another properly sourced terminal terminal
rosrun mobile_manipulator orchestra.py