RePAIR Motion Controller ROS Action Server Pkg

This ROS package provides an action server node for trajectory planning and control of the two-armed RePAIR robot using the xbot2 framework. The action server supports goal execution for the left arm, the right arm, or both arms simultaneously. It leverages the Klampt library for motion planning and communicates planned trajectories to the xbot_ros_bridge node via the FollowJointTrajectory action interface.

The xbot_ros_bridge node translates the received FollowJointTrajectory goals into joint commands and publishes them to the /xbotcore/command topic. Additionally, it bridges the robot's state information by converting /xbotcore/joint_states to the standardized /joint_states topic for compatibility with ROS tools.

---

Package contents:

repair_motion_planner/ 
├── action/ 
│   └── RepairMoveTo.action
│
├── config/
│   ├── hall/
│   │   └── repair_dummy.yaml
│   ├── joint_config/
│   │   ├── home_joint_config.yaml
│   │   └── joint_map.yaml                  # not used
│   ├── joint_physics/
│   │   ├── idle.yaml                       # not used
│   │   ├── impd4.yaml                      # not used
│   │   └── pos3b.yaml                      # not used
│   └── repair_xbot_config.yaml
│
├── include/repair_motion_controller/ 
│           └── xbot_ros_bridge.hpp 
│
├── launch/ 
│   ├── bringup_motion_controller_with_dummy.launch 
│   └── bringup_motion_controller.launch 
│
├── robot_description/ 
│   ├── realsense_description_l515/**      
│   ├── repair_description/meshes/**      
│   ├── softhand_description/**           
│   ├── klampt_world.xml
│   ├── repair_full.urdf
│   └── repair_full.srdf
│ 
├── scripts/ 
│   ├── bringup_xbot_dummy.sh               # executable 
│   ├── repair_klampt_motion_planner.py 
│   ├── repair_motion_control_server.py     # executable (node)
│   └── run_xbot2_dummy.py                  # executable
│
├── src/
│   └── xbot_ros_bridge.cpp                 # executable (node)
│
├── CMakeLists.txt
├── package.xml
├── README.md 
└── rqt_graph.png

---

Installation

1. Install Klampt:

   pip3 install klampt

2. Install xbot2:

   sudo sh -c 'echo "deb http://xbot.cloud/xbot2/ubuntu/$(lsb_release -sc) /" > /etc/apt/sources.list.d/xbot-latest.list'
   wget -q -O - http://xbot.cloud/xbot2/ubuntu/KEY.gpg | sudo apt-key add -
   sudo apt update
   sudo apt install xbot2_desktop_full

   source xbot2

   echo ". /opt/xbot/setup.sh" >> ~/.bashrc

2. Install the pkg:

• Create a catkin workspace if it does not already exist:

  mkdir -p ~/catkin_ws/src
  

• clone this repo and build:

  cd ~/catkin_ws/src
  git clone https://github.com/RePAIRProject/repair_motion_controller.git
  cd ~/catkin_ws
  catkin build
  source devel/setup.bash

---

launch the motion controller

• Launch with the dummy:

  roslaunch repair_motion_controller bringup_motion_controller_with_dummy.launch 

• Launch for real robot:

  roslaunch repair_motion_controller bringup_motion_controller.launch 

---

Terminal commands for sending goal poses to test

Click to expand!

• For Left Arm:

  rostopic pub /repair_motion_controller/goal repair_motion_controller/RepairMoveToActionGoal "goal:
    arm: 0
    target_time: 2.0
    target_pose_left:
      position:
        x: 0.4105
        y: 0.8265
        z: 1.3946
      orientation:
        x: -0.4968
        y: 0.2990
        z: 0.1906
        w: 0.7920
  "

• For Right Arm:

  rostopic pub /repair_motion_controller/goal repair_motion_controller/RepairMoveToActionGoal  "goal:
    arm: 1 
    target_time: 2.0
    target_pose_right:
      position:
        x: 0.3854
        y: -0.8531
        z: 1.3946
      orientation:
        x: 0.4969
        y: 0.2992
        z: -0.1912
        w: 0.7920
  "

• For Both Arms:

  rostopic pub /repair_motion_controller/goal repair_motion_controller/RepairMoveToActionGoal  "goal:
    arm: 2 
    target_time: 2.0
    target_pose_left:
      position:
        x: 0.0105
        y: 0.0265
        z: 1.2946
      orientation:
        x: -0.4968
        y: 0.2990
        z: 0.1906
        w: 0.7920
    target_pose_right:
      position:
        x: 0.5854
        y: -0.8531
        z: 1.2946
      orientation:
        x: 0.4969
        y: 0.2992
        z: -0.1912
        w: 0.7920
  "

---

Klampt Planner Configuaration:

Configuration for klampt planner and vis can be found here: repair_klampt_motion_planner.py (line 40)