Closed-chain Affordance Planning for NRG Spot using ROS2

This repository contains the cca_spot package to implement the closed-chain affordance planning framework on the NRG Spot robot.

Build and Install Instructions:

1. Install the closed-chain affordance planning libraries by following instructions from the following repository: Link to instructions

2. Clone this repository onto your local machine ROS2 workspace src folder:

   cd ~/<ros2_ws_name>/src
   

   git clone -b main [email protected]:UTNuclearRoboticsPublic/closed_chain_affordance_spot.git
   

3. Build and source the cca_spot package:

   cd ~/<ros2_ws_name>
   

   colcon build --packages-select cca_spot
   

   source install/setup.bash
   

Notable Dependencies

xterm, install with sudo apt install xterm

Run Instructions:

On the Spot Core:

1. Run the Spot driver:

   ros2 launch spot_bringup bringup.launch.py hostname:=192.168.50.3
   

2. Launch the robot state publisher:

   ros2 launch spot_description state_publisher.launch.py has_arm:=True
   

On Your Local Machine:

3. Load robot_description_semantic onto the parameter server. For convenience, we'll do it by launching the Moveit motion planning plugin file, which not only publishes robot_description_semantic, but also opens up Rviz.

   ros2 launch spot_arm_moveit2_config spot_arm_planning_execution.launch.py joint_state_topic:=/spot_driver/joint_states
   

4. Run the planning visualization server. Then, in RViz, add MarkerArray with publishing topic, /ee_trajectory.

   ros2 run moveit_plan_and_viz moveit_plan_and_viz_node
   

5. Load closed-chain affordance description for Spot and run the closed-chain affordance planner node:

   ros2 launch cca_spot cca_spot_launch.py
   

Author

Janak Panthi aka Crasun Jans