mobile_manipulator

介绍

移动机械臂作为一种新型协作机器人，受到越来越多学者的广泛关注，该功能包以bulldog移动平台与franka panda七自由度冗余机械臂所组成的移动机械臂系统为研究对象，重点设计和实现以下功能：

1. 基于moveit!与actionlib机制的七自由度冗余机械臂运动规划算法 —— manipulator_moveit_config
2. 基于moveit!与Gazebo联合仿真的逆运动学求解算法，动力学验证 —— manipulator_gazebo
3. 基于find_object,opencv,pcl的三维物体位姿解算与自主抓取 —— find-object,opencv,vision_opencv
4. 基于贪婪边界搜索的自主探索算法 —— bulldog_navigation

目前，笔者已经在自己的笔记本上(Intel: i7-10750H, Nividia GTX1650Ti, 16G内存)测试通过了上述所有功能包，后续该功能包将一直保持更新状态，未来也会有新的功能陆续加入，敬请期待！

软件依赖

ROS melodic 下所需依赖如下：

1. find_object
2. kinect_v2
3. vision_opencv
4. 探索插件：frontier_exploration
5. 地图融合：m-explore
6. gmapping
7. 八叉树地图：octomap

使用说明

1. MoveIt + Gazebo 联合仿真 (通过MoveIt控制Gazebo):

roslaunch manipulator_gazebo manipulator_bringup_moveit.launch

2. Gazebo + Rviz (通过配置加载控制器起到控制移动机械臂的效果):

roslaunch robots_description gazebo_manipulator_demo.launch
roslaunch robots_description gazebo_bulldog_demo.launch  # Only bulldog  

3. 导航+moveit:

roslaunch manipulator_gazebo manipulator_bringup_moveit.launch
roslaunch bulldog_navigation move_base_mapless_demo.launch
rosrun gmapping slam_gmapping
rosrun manipulator_moveit_config markerpub_star.py
rosrun manipulator_moveit_config moveit_star.py

4. moveit! + marker:

roslaunch manipulator_moveit_config demo.launch
rosrun manipulator_moveit_config markerpub_rose_curve.py  # 需更改manipulator_moveit_config功能包中的moveit_rviz.launch文件中的rviz

5. explore-lite 探索 + moveit + gazebo:

roslaunch manipulator_gazebo mobile_manipulator_gazebo.launch
roslaunch manipulator_gazebo mobile_manipulator_moveit.launch
roslaunch bulldog_navigation move_base_mapless_demo.launch
rosrun gmapping slam_gmapping
roslaunch explore_lite explore.launch

6. 多线雷达导航 + 建图:

roslaunch bulldog_gazebo bulldog_gazebo.launch
roslaunch bulldog_navigation pointcloud_to_laserscan.launch
roslaunch bulldog_navigation move_base_mapless_demo.launch
roslaunch bulldog_navigation gmapping.launch
rosrun rqt_robot_steering rqt_robot_steering

7. frontier 探索:

roslaunch bulldog_gazebo bulldog_gazebo.launch
roslaunch bulldog_navigation exploration_demo.launch

8. 自主探索 + 建图:

roslaunch bulldog_gazebo bulldog_gazebo.launch  
roslaunch bulldog_navigation pointcloud_to_laserscan.launch  # 多线雷达需要先将三维点云/velodyne_points转换为二维/scan,单线雷达则不需要
roslaunch bulldog_navigation move_base_mapless_demo.launch
roslaunch bulldog_navigation gmapping.launch
rosrun bulldog_navigation prometheus

9. find_object_2d franka 视觉抓取:

roslaunch panda_gazebo panda_bringup_gazebo.launch
roslaunch panda_gazebo panda_bringup_moveit.launch
roslaunch find_object_2d find_object_3d.launch
rosrun opencv tf_listener.py
rosrun grasp_control control.py