MoMa

Main repository of the mobile manipulation (moma) team at ASL containing launch files, robot descriptions, utilities, controllers, and documentation for robot operation.

Packages

• moma_bringup: Launch files and configurations for interfacing with the real robots.
• moma_description: Unified Description Formats (URDFs) of our robots.
• moma_gazebo: Launch files, virtual worlds and plugins for Gazebo simulation (work in progress).
• moma_utils: Python utilities commonly used within moma projects.
• panda_control: Wrappers and custom controllers for controlling panda.
• panda_moveit_config: MoveIt configuration for our panda setup.

Quick Start

Note that all instructions in this repository are tested on Ubuntu 18.04 with ROS melodic.

First, clone this repository and its submodules into the src folder of a new or existing catkin workspace.

git clone --recurse-submodules git@github.com:ethz-asl/moma.git

Install some general system dependencies.

./install_dependencies.sh

Set the build type to release for faster execution.

catkin config -DCMAKE_BUILD_TYPE=Release

Then, use catkin to build the desired packages, e.g.

catkin build grasp_demo

GPD

When building a package that relies on GPD (e.g. fetch_demo or grasp_demo), GPD needs to be built separately first. For the installation instructions, refer to submodules/gpd/README.md.

Wiki

Before you start developing, familiarize yourself with the robotic platform you will be working with and make sure to checkout the development section of our wiki.

Documentation

Every package should contain a README.md file documenting its main features.

More detailed instructions on the setup and operation of our robotic platforms, as well as some best-practices for development can be found in the Wiki.

Ansible Playbooks

The operations/ directory contains some Ansible playbooks which are there to automate and document how to set up a computer.

To run a playbook, first install Ansible (pip install --user ansible). Copy the hosts file operations/hosts to /etc/ansible/hosts.

The hosts file is an inventory file specifying groups of hosts. A playbook is always run against a group and all the commands will be run on all machines in that group.

To set up the franka control computer, run:

ansible-playbook operations/setup_franka.yaml --ask-pass --ask-become-pass

The --ask-pass flag is not needed if ssh authentication is being used.