Install

Examples

Fake robot

roslaunch manipulation.launch Which does does the following: #TODO needs testing: does the finger action server work in sim?

1. load the planning context Load the URDF, SRDF and other .yaml configuration files on the param server
2. fake joint state publisher We do not have a robot connected, so publish fake joint states
3. Robot state publisher Given the published joint states, publish tf for the robot links
4. launch rviz With manipulation_config.rviz as the coniguration file

load drivers and planner for real robot

1. Launch the kinova_driver node to control the arm.

roslaunch kinova_bringup kinova_robot.launch kinova_robotType:=j2s7s300 /joint_states:=/j2s7s300_driver/out/joint_state

2. run rviz with manipulation.launch.

rosrun rviz rviz

3. Load extra drivers for fingers and moveit.

roslaunch j2s7s300_moveit_config j2s7s300_demo.launch /joint_states:=/j2s7s300_driver/out/joint_state Which loads the following:

• move_group node, with controllers, defined in #TODO fill this in/config/controllers.yaml
• joint_trajectory_action_server node available in kinova_driver
• gripper_command_action_server node available in kinova_driver
• rviz

Command line tool for saving poses

rosrun jaco_manipulation store_poses.py /joint_states:=/j2s7s300_driver/out/joint_state

loading AR Trackers

roslaunch jaco_manipulation ar_track_alavar.launch

1. launch AR tracker indigo branch of ar_track_alvar https://github.com/ros-perception/ar_track_alvar/tree/indigo-devel
2. launch kinect bridge iai_kinect2 from https://github.com/code-iai/iai_kinect2/tree/master/kinect2_bridge
3. calibrate the kinect using calibrate_camera.py

• this requries ar_tracker_6 be placed right below the robot

#TODO Point clouds are only published when the launch file is used. Run roslaunch kinect2_bridge kinect2_bridge.launch

for debugging kinect connection issues: While bridge is running, run the following to view the camera rosrun kinect2_viewer kinect2_viewer hd image

A ros independent way to check kinect drivers is by running ./libfreenect2/build/bin/Protonect from the home directory

Run pick and place demo

rosrun jaco_manipulation moveit_interface.py /joint_states:=/j2s7s300_driver/out/joint_state Requires the following to be loaded:

• AR Trackers
• MoveIt!
• Bringup

#TODO test if this works in sim

Dependencies

#TODO need more documentation here

src containst the following:

• ar_track_alvar
• autolab_core
• iai_kinect2
• jaco_manipulation
• kinova-ros
• perception