https://github.com/stevemacenski/cyton_gamma_pkg
This package contains the launch files used for simulation and execution on hardware for cyton series robots in ROS Indigo- and a commanding front-end for operations
https://github.com/stevemacenski/cyton_gamma_pkg
Last synced: about 2 months ago
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This package contains the launch files used for simulation and execution on hardware for cyton series robots in ROS Indigo- and a commanding front-end for operations
- Host: GitHub
- URL: https://github.com/stevemacenski/cyton_gamma_pkg
- Owner: SteveMacenski
- Created: 2016-12-28T16:39:28.000Z (over 8 years ago)
- Default Branch: master
- Last Pushed: 2017-01-13T19:22:41.000Z (over 8 years ago)
- Last Synced: 2025-01-28T15:26:17.518Z (4 months ago)
- Language: Python
- Size: 42 KB
- Stars: 1
- Watchers: 3
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
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README
# cyton_gamma_pkg
This package contains the launch files used for simulation and execution on hardware for cyton series robots in ROS Indigo- and a commanding front-end for operations
## cyton_gamma_pkg/launch
Here are the launch files for each type of execution on the Cyton Gamm 1500 and Gamma 300.
>simulation_gamma_[300 or 1500].launch
This will launch a simulation environment in RVIZ and Gazebo
>gamma_[1500 or 300]_planning_execution.launch
This is an edited version of the ROS-I generated file. It is tuned with removed parts not relavent for my implementation. Additional parameters were added for hardware execution.
The remaining files, _gaz and _rviz support the simulation package. controllers.yaml in the index of the directory are for the simulation environment for Gazebo.
## cyton_gamma_pkg/src
Here are the python tests of a trajectory generation program, front-end, and path planning class utilizing OMPL and MoveIt.
> ./[300 or 1500]_hardware_launch.sh
Will attempt to launch all of the launch scripts for a full launch making it easier on the user. It currently has some bugs resulting in a 50% success rate.
> rosrun cyton_gamma_pkg command_front_end.py 2>/dev/null [300 or 1500]
Will launch the front-end with accompanying OMPL/MoveIt planning backend class in robot_planning_class.py.
> rosrun cyton_gamma_pkg feedback_front_end.py 2>/dev/null [300 or 1500]
Will launch the front-end with feedback information from the robot and E-STOP capabilities.
If you prefer a single front-end with all capabilities, this will do that and will include velocity control.
> rosrun cyton_gamma_pkg combined_front_end.py 2>/dev/null [300 or 1500]
*This front-end is highly recommended*
test_traj.py shows how to fill out the trajectory_msgs JointTrajectory type in python and submit those commands directly to hardware. This allows you to bypass a planning node and is independent of OMPL, requiring only a connection to the hardware.
## Robot Operations
For full instructions see SteveMacenski/cyton_gamma_300-1500_operation_and_simulation
https://github.com/SteveMacenski/cyton_gamma_300-1500_operation_and_simulation
Video details of robot operations and initial front-end: https://www.youtube.com/watch?v=L6wQS88PJ5U