cu-perception-manipulation-stack

Contains ros packages for perception, calibration, and arm manipulation of the Jaco arm.

Installation

Dependencies:

• ros-indigo installation
• ubuntu 14.04
• catkin_tools: http://catkin-tools.readthedocs.io/en/latest/installing.html

Using sudo apt-get install:

• ros-indigo-ar-track-alvar
• ros-indigo-moveit-core
• ros-indigo-graph-msgs
• ros-indigo-moveit-ros-robot-interaction
• ros-indigo-openni2-launch
• ros-indigo-keyboard
• ros-indigo-moveit-ros

Setting up a workspace and adding the packages

In your home directory:

mkdir -p ~/ros/jaco_ws/src
cd ros/jaco_ws/src
catkin_init_workspace
cd ..
catkin build

Add the following github repos in the src directory in your workspace.

cd src
git clone <package>

packages:

• -b indigo-devel https://github.com/davetcoleman/rviz_visual_tools.git
• https://github.com/ros-planning/moveit_robots.git
• -b indigo-devel https://github.com/davetcoleman/moveit_visual_tools.git
• https://github.com/correlllab/cu-perception-manipulation-stack.git
• https://github.com/Kinovarobotics/kinova-ros.git

Note: follow kinova-ros instructions for adding udev rules. kinova-ros may fail to build. check correct include file paths in kinova_comm.cpp: #include "kinova/KinovaTypes.h". Some other packages may fail in moveit, just add .CATKIN_IGNORE file or delete the directory.

restart udev so it reads the new rules:

sudo /etc/init.d/udev restart

Compile

Use "catkin build" in your workspace one more time

catkin build

Sourcing and Configuring .bashrc

Assuming you were able to compile, you will need to source your packages to be able to run them:

gedit ~/.bashrc

.bashrc lines to add. modify ip and username in <>:

# Sourcing ROS and your workspace(s)
source /opt/ros/indigo/setup.bash 
source ~/ros/jaco_ws/devel/setup.bash

# roscore on this machine
export ROS_IP=`hostname -I | tr -d '[[:space:]]'`

# roscore on the gigabyte
export ROS_MASTER_URI=http://128.138.244.28:11311

# local host
export ROS_HOSTNAME=<your ip>

# ROS Workspaces
function rosPackagePath()
{
    arr=$(echo $CMAKE_PREFIX_PATH | tr ":" "\n")
    for x in $arr
    do
	rootpath1="/home/<username>/ros/"
	rootpath2="/opt/ros/"
	x=${x#${rootpath1}}
	echo " " ${x#${rootpath2}}
    done
};
rosPackagePath
echo "ROS_HOSTNAME = "$ROS_HOSTNAME
echo "ROS_IP = "$ROS_IP
echo "ROS_MASTER_URI = "$ROS_MASTER_URI

Either open a new terminal or source that file:

source ~/.bashrc

Running the everything on your machine

Uncomment and comment out pertaining sections in .bashrc shown above and run the following in a terminal(s)

roscore

launch files:

Single one that launches all of the nodes:

   roslaunch pick_and_place pap_full.launch

Launching the nodes individually:

    roslaunch openni2_launch openni2.launch depth_registration:=true publish_tf:=true
    roslaunch camera_calibration_tool calibration.launch
    roslaunch perception interface.launch
    roslaunch kinova_bringup kinova_robot.launch
    rosrun image_view image_view image:=/camera/rgb/image_raw
    rosrun keyboard keyboard

for finger sensors, one of the following:

    rosrun finger_sensor sensor.py
    rosrun finger_sensor sensor_visual.py

Main manipulation script for jaco:

    rosrun pick_and_place pap_with_perception.py

Connecting to roscore in the lab

.bashrc script above configures your computer to connect with ROS. Make sure this is sourced properly Test connection:

rostopic list

Possible solutions if connection fails, but pinging is successful; installing openssh-client and opentssh-server. Using netcat and testing ports. Restarting. Ones of these magically fixed our issues.

launch files:

Launching the nodes:

    roslaunch perception interface.launch
    rosrun image_view image_view image:=/camera/rgb/image_raw
    rosrun keyboard keyboard

for finger sensors, one of the following:

    rosrun finger_sensor sensor.py
    rosrun finger_sensor sensor_visual.py

Main manipulation script for jaco:

    rosrun pick_and_place pap_with_perception.py

More instructions coming soon!