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https://github.com/darkmoonlite/fetchrobotcontrol-41014
controlling a fetch robotic arm via visual servoing in ROS1 Melodic
https://github.com/darkmoonlite/fetchrobotcontrol-41014
gazebo ros-melodic
Last synced: about 1 month ago
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controlling a fetch robotic arm via visual servoing in ROS1 Melodic
- Host: GitHub
- URL: https://github.com/darkmoonlite/fetchrobotcontrol-41014
- Owner: DARKMOONlite
- License: apache-2.0
- Created: 2023-09-02T07:29:36.000Z (over 1 year ago)
- Default Branch: main
- Last Pushed: 2023-11-04T06:40:34.000Z (about 1 year ago)
- Last Synced: 2024-06-07T15:06:52.535Z (7 months ago)
- Topics: gazebo, ros-melodic
- Language: C++
- Homepage:
- Size: 23.5 MB
- Stars: 1
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# FetchRobotControl-41014
controlling a fetch robotic arm via visual servoing in ROS1 Melodic
Contributors: Angus Cheng, Sebastian Schroder, Zahne Simon
## Installation:
1. follow the [melodic setup guide](http://wiki.ros.org/melodic/Installation/Ubuntu)
2. clone the repo
```bash
git clone --recursive https://github.com/DARKMOONlite/FetchRobotControl-41014.git
```
3. install the required dependencies:
```bash
sudo apt install ros-melodic-fetch-calibration ros-melodic-fetch-open-auto-dock \
ros-melodic-fetch-navigation ros-melodic-fetch-tools ros-melodic-robot-controllers ros-melodic-rgbd-launch ros-melodic-moveit-core -y
```
4. build the packages
```bash
cd FetchRobotControl-41014/packages
catkin_make
source devel/setup.bash
```
5. test that it works by running a simple gazebo simulation
```bash
roslaunch fetch_gazebo simulation.launch
```
6. Download the realsense2 camera packages. [link to relavent question](https://answers.ros.org/question/364033/realsense2_camera-cannot-locate-rosdep-definition-for-librealsense2/)
```bash
sudo apt-get install ros-melodic-realsense2-camera ros-melodic-realsense2-description ros-melodic-librealsense2
```
7. install other necessary packages.
```bash
sudo apt-get install ros-melodic-moveit ros-melodic-simple-grasping ros-melodic-moveit-visual-tools ros-melodic-rosparam-shortcuts ros-melodic-franka-desctiption
```
## Deep Grasps
- follow the steps from Getting started to the end of the `install grasp pose detection` on the [deep grasps git page](https://github.com/PickNikRobotics/deep_grasp_demo/blob/master/README.md). **Please Install inside the download folder to keep it consistent between us**
- then follow the setup guide for the [ros-gpd package](https://github.com/atenpas/gpd_ros), you do not need to clone it yourself, nor edit the package, so skip that step as its included as a submodule in this git repo.
- particular versions of `moveit_task_planner` & `deep_grasps_demo` wer needed to make them run correctly. these changes were inspired by [this thread](https://github.com/PickNikRobotics/deep_grasp_demo/issues/15).
## Demos
- **here's a list of interesting demos, that you should check work on your machine. if any packages are missing, please add them to the aboce package list.**
- ```roslaunch fetch_moveit_config demo.launch ``` *[moveit demo](https://docs.fetchrobotics.com/manipulation.html)*
- ```roslaunch fetch_gazebo simulation.launch``` *[gazebo demo](https://docs.fetchrobotics.com/gazebo.html)*
- ```roslaunch fetch_gazebo playground.launch``` & ```roslaunch fetch_gazebo_demo demo.launch``` *[full gazebo + sensor demo](https://docs.fetchrobotics.com/gazebo.html#mm-demo)*
### Tips:
- information about the fetch robot and using it can be found at [Fetch robotics website](https://docs.fetchrobotics.com/index.html)