Closed-Chain Affordance Planning for Kinova Gen3 7DoF Arm

Overview

The cca_kinova_gen3_7dof package implements the Closed-Chain Affordance (CCA) planning framework for the Kinova Gen3 7DoF robotic arm using ROS2. This package provides comprehensive tools for joint trajectory planning, visualization, and execution.

Dependencies

Before installation, ensure you have the following dependencies:

• CCA Libraries
• CCA ROS Interface
• ros2_kortex: For robot description and optional simulator

Installation

1. Navigate to your ROS2 workspace and clone the repository:

   cd ~/<ros2_ws_name>/src
   git clone -b main git@github.com:UTNuclearRoboticsPublic/closed_chain_affordance_kinova_gen3_7dof.git

2. Build the package and source the workspace:

   cd ~/<ros2_ws_name>
   colcon build --packages-select cca_kinova_gen3_7dof
   source install/setup.bash

Usage

With Physical Robot

1. Launch the Kinova driver:

   ros2 launch kinova_gen3_7dof_robotiq_2f_85_moveit_config robot.launch.py \
     robot_ip:=yyy.yyy.yyy.yyy

   Replace yyy.yyy.yyy.yyy with your robot's actual IP address

2. Launch the CCA visualizer with interactive RVIZ plugin:

   ros2 launch cca_kinova_gen3_7dof cca_kinova_gen3_7dof_viz.launch.py

   This launches both the visualizer and an interactive RVIZ plugin for code-free planning and execution

3. For programmatic task definition, launch the CCA planner which will plan for the tasks defined in src/cca_kinova_gen3_7dof_node.cpp:

   ros2 launch cca_kinova_gen3_7dof cca_kinova_gen3_7dof.launch.py

Without Physical Robot (Simulation)

1. Launch the fake hardware simulator:

   ros2 launch kinova_gen3_7dof_robotiq_2f_85_moveit_config robot.launch.py \
     robot_ip:=yyy.yyy.yyy.yyy \
     use_fake_hardware:=true

2. Launch the CCA visualizer with interactive RVIZ plugin:

   ros2 launch cca_kinova_gen3_7dof cca_kinova_gen3_7dof_viz.launch.py

   This launches both the visualizer and an interactive RVIZ plugin for code-free planning and execution

3. Run the CCA planner demo which will plan for the tasks defined in src/demo/cca_kinova_gen3_7dof_demo.cpp:

   ros2 launch cca_kinova_gen3_7dof cca_kinova_gen3_7dof_demo.launch.py

Recommendations

• Explore the interactive RVIZ plugin for code-free planning and execution
• Modify demo node tasks to create custom trajectories
• Refer to the package's README.md for additional task examples

Author

Janak Panthi (aka Crasun Jans)

Support

For issues, feature requests, or contributions, please open an issue in the GitHub repository.