Robot Learning Lab SDK

Software Development Kit for Robot Learning Lab (RLL) projects

Components

• Model of a RLL robot work cell
• Gazebo, MoveIt! and ROS Control configuration
• Documentation of the web API
• Standardized runner for all projects
• Move Interface for controlling the robot
  • Ability to send joint or cartesian goal positions
  • Support for pick and place tasks
  • Cartesian or point to point trajectories possible
  • Usable as a base for project-specific interfaces

Usage

The SDK is intended to be used as a dependency of a RLL project. All components are ROS packages and can be built using Catkin.

The Gazebo simulation can be launched together with MoveIt! and an Rviz visualization using

roslaunch rll_moveit_config moveit_planning_execution.launch

The Move Interface is started with

roslaunch rll_move move_iface.launch

Move services are available in the /iiwa/ namespace, e.g. /iiwa/pick_place or /iiwa/move_lin.

If you want to improve the web API description, have a look at the ReadMe.

ROS Kinetic gotchas

Some of the python packages use the typing module which cannot be installed via rosdep on Kinetic. You need to install it manually by running:

pip install typing

Acknowledgements

The description, control and Gazebo config was inspired by the iiwa stack.