Project-NR: Developing Plug-And-Play Robotic Arm System (PAPRAS)
We use a ROS1 build environment. This project can easily be made to interface with ROS1 for visualization or for running on a real or simulated robot.
- Manual Install Follow installation instructions for ROS Noetic The specific commands are listed below:
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt install curl # if you haven't already installed curl
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
sudo apt update
sudo apt install ros-noetic-desktop-full
echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
source ~/.bashrc
sudo apt install python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential
sudo rosdep init
rosdep update
- Install MoveIt! and other necessary packages
sudo apt install ros-noetic-moveit \
ros-noetic-rviz-visual-tools \
ros-noetic-moveit-visual-tools \
ros-noetic-moveit-resources-prbt-moveit-config \
ros-noetic-pilz-industrial-motion-planner \
ros-noetic-joint-trajectory-controller \
ros-noetic-effort-controllers \
ros-noetic-plotjuggler-ros \
ros-noetic-vision-msgs \
ros-noetic-rosparam-shortcuts \
ros-noetic-serial \
ros-noetic-libcreate \
ros-noetic-aruco-msgs \
libspnav-dev \
ros-noetic-trac-ik-kinematics-plugin \
ros-noetic-dynamixel-sdk \
ros-noetic-dynamixel-workbench \
ros-noetic-open-manipulator-msgs \
ros-noetic-open-manipulator-p-simulations \
ros-noetic-robotis-manipulator \
ros-noetic-realsense2-camera \
ros-noetic-aruco-ros \
ros-noetic-roboticsgroup-upatras-gazebo-plugins
- Go to catkin_ws directory, build the package, and configure ROS
cd && mkdir catkin_ws && cd catkin_ws && mkdir src && cd src
git clone https://github.com/uiuckimlab/PAPRAS-V0-Public.git
cd ~/catkin_ws && catkin_make
source devel/setup.bash
- Optional for grasping in gazebo to work with the position controllers, clone these two repositories in your catkin_ws
git clone https://github.com/JenniferBuehler/gazebo-pkgs.git
git clone https://github.com/JenniferBuehler/general-message-pkgs.git
- Run ./create_udev_rules bash script located in PAPRAS/scripts This script copies a udev rule to /etc to facilitate bringing up the PAPRAS usb connection.
cd ~/catkin_ws/src/PAPRAS/scripts
chmod +x create_udev_rules && ./create_udev_rules
- Run the executable
roslaunch papras_simple_demo simple_demo_sim.launch gazebo_gui:=true rviz:=true
Example output:
Loading 'pilz_industrial_motion_planner/MoveGroupSequenceAction'...
[ INFO] [1647025084.512747382, 0.959000000]: initialize move group sequence action
[ INFO] [1647025084.516892254, 0.963000000]: Reading limits from namespace /robot_description_planning
Loading 'pilz_industrial_motion_planner/MoveGroupSequenceService'...
[ INFO] [1647025084.526412752, 0.973000000]: Reading limits from namespace /robot_description_planning
[ INFO] [1647025084.535253190, 0.982000000]:
*
[ INFO] [1647025084.535305630, 0.982000000]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1647025084.535326920, 0.982000000]: MoveGroup context initialization complete
You can start planning now!
- Plotting joint positon and torque using PlotJuggler
rosrun plotjuggler plotjuggler
Streaming Panel -> Select ROS Topic Subscriber -> Click Start
Select all /ft_sensor_topic topics and click OK
Drag & Drop any of the joint force/torque values onto plot.
This repository is based on PAPRAS. If you find this code useful in your research, please consider citing:
@misc{kim2023paprasplugandplayroboticarm,
title={PAPRAS: Plug-And-Play Robotic Arm System},
author={Joohyung Kim and Dhruv C Mathur and Kazuki Shin and Sean Taylor},
year={2023},
eprint={2302.09655},
archivePrefix={arXiv},
primaryClass={cs.RO},
url={https://arxiv.org/abs/2302.09655}
}
This code was written by Kazuki Shin, Dhruv Mathur and Sankalp Yamsani.