ME5415 Design Project

This repo is the source code to simulate a UR5 with a soft gripper in Gazebo, as to fulfill the requirement of the ME5415 Adv. Soft Robotics module.

Dependencies

1. Install the Universal Robots and moveit packages

sudo apt install ros-noetic-universal-robots
sudo apt install ros-noetic-moveit-commander

2. clone this package

3. clone the following packages into the src folder

git@github.com:JenniferBuehler/gazebo-pkgs.git
git@github.com:JenniferBuehler/general-message-pkgs.git
git@github.com:roboticsgroup/roboticsgroup_gazebo_plugins.git

4. catkin_make

Usage

1. Launch the Gazebo world

roslaunch me5415_world world.launch

⚠️ The Gazebo is set to pause during start up to solve a problem that initial joint config not loaded fast enough, unpause the Gazebo before continuing

2. Launch the moveit commander

roslaunch me5415_world moveit.launch

3. Launch the robot controller script

roslaunch me5415_moveit_config robot_controller.launch

This is the actual script that controls the robot. There are mainly 4 ways to move the robot:

Motion Type	Descriptipn	Remarks
Move to a saved joint	Supply a saved joint name, currently supported: "source_table" and "assemble_table"
Move via joint	Supply a list of joint_goal (list of 6 elements)
Move via cartesian	Supply a geometry_msgs/Pose of a Cartesian coordinate, wrt to the "world" frame	Uses IK to calculate, might have singularity
Move in cartesian direction	Fine tuning the cartesian pose, eg: move along z+ by 10cm	Uses IK to calculate, might have singularity

This is the main part to add in coordinate to complete the simulation

# to get the current joint angle of the robot
rostopic echo /eff_joint_traj_controller/state

To open / close the gripper

# close
rostopic pub /left_finger_joint_position_controller/command std_msgs/Float64 "data: 0.00"

# open
rostopic pub /left_finger_joint_position_controller/command std_msgs/Float64 "data: 0.03"