SOCIAL ROBOT (BIOLOID GP) Simulation and Manipulation Package

© 2020, Francisco Yumbla

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1. How to Install

1.1. System Requirements

This package is written an tested on Ubuntu 20.04 + ROS Noetic environment. Dependencies are also for this environment.

1.1.1 Desktop

Install ROS in your Ubuntu 18.04 computer (follow this tutorials): http://wiki.ros.org/noetic/Installation/Ubuntu

Create a ROS Workspace: ~/catkin_ws

1.1.2 Jetson Nano

Getting Jetson Nano Started: https://developer.nvidia.com/embedded/learn/get-started-jetson-nano-devkit

Ros installer (follow this tutorials to install ROS noetic in jetson nano): http://wiki.ros.org/noetic/Installation/Ubuntu

Install the ROS Desktop package, including support for rqt, rvizand other useful robotics packages:

sudo apt install ros-noetic-desktop

Note: “ROS Desktop Full” is a more complete package, however it is not recommended for an embedded platform; 2D/3D simulators will be installed with it and they take too much space on ROM, and are too computationally hungry to be used on the Jetson Nano.

1.2. Dependencies Prerequisites

Please install all the packages listed below in your Ubuntu PC or Jetson Nano, in the given order.

• ros-noetic-joint-state-rosserial

• ros-noetic-joint-state-publisher

• ros-noetic-joint-state-publisher-gui

• ros-noetic-moveit

1.3 Build

Extract the metapackage ros-bioloid-gp into ${ros_workspace}/src. and then initialize the submodules and catkin_make your workspace.

git clone --recursive https://github.com/fryumbla/ros-bioloid-gp.git
git submodule init
git submodule update
catkin_make

1.4. V-REP

The bioloid-gp-project uses a CoppeliaSim simulator (version V4.2.0 or higher).

Download: CoppeliaSim edu

Decompress

tar -xvzf {file_name}

Execution

cd {v-rep directory path}
./vrep.sh

To work with ROS, the socialrobot project uses a remote api. Modify the remoteApiConnections.txt file in the vrep directory to enable it .

portIndex1_port             = 19997

2. Structure of Package

To be updated...

3. How to Use

3.1. Simulation

3.1.1 V-REP Simulation

1. V-REP execution (Since simulation is performed with vrep remote api, roscore must be executed first)

2. Run the next node for the communication Vrep to ros

   rosrun bioloid_vrep comunication
   

To see the list of movement, type rosrun bioloid_gp_master movement.py program, introduce the number do you want to move 1 2 3 and Enter. This node publis the joints goals in the topic /joint_goals

3.1.2 Gazebo Simulation

1. Launch the robot in gazebo

   roslaunch bioloidgp_social_robot gazebo.launch
   
   

2. Run the next node for the communication ROS to Gazebo

   rosrun bioloid_gp_master communitation_gazebo.py 
   

To see the list of movement, type rosrun bioloid_gp_master movement.py program, introduce the number do you want to move 1 2 3 and Enter. This node publis the joints goals in the topic /joint_goals

3.2. Real Robot

You can use the communication controller. Type rosrun bioloid_gp_communication communication.py in the terminal, , and you will get the comunication TTL to the Dynamixel motors. To see the list of movement, type rosrun bioloid_gp_master movement.py program, introduce the number do you want to move 1 2 3 and Enter.