hdt_4dof_a24

control packages for 6DOF manipulator with pincer, using A24 actutators

Initial setup

0. Install ROS Melodic on Ubuntu 18.04

Follow directions here

1. Create catkin workspace

$ source /opt/ros/melodic/setup.bash
$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/src
$ catkin_init_workspace .
$ cd ..
$ catkin_make

2. Copy this repositories into src folder

~/catkin_ws/src/

3. Install required packages and build

$ cd ~/catkin_ws
$ source devel/setup.bash
$ rosdep install --from-paths src --ignore-src -r -y
$ catkin_make

Running the system

Use the following command to start the system in simulation:

$ cd ~/catkin_ws
$ source devel/setup.bash
$ roslaunch hdt_4dof_a24_bringup hdt_arm_bringup_1.launch simulation:=true controller_type:=xbox

This will start the hdt_adroit_control interface, bring up an RViz visualization of the system, and allow users to control the arm with an example joystick interface. The simulation argument accepts true/false arguments; true connects to the hardare, false loops back the commanded position as the current position in the /joint_states topic. The controller_type argument accepts a string corresponding to a hdt_4dof_a24_description/config/joystick_map_*.yaml parameter file which maps control functions to buttons and axes in the /joy topic. Support is provided for xbox and ds4 joysticks.