Turtlebot3与仿真-Turtlebot3 with OpenManipulator

说明

• 在PC上加载Turtlebot3 with OpenManipulator的Gazebo环境
• 测试环境：Ubuntu 16.04 + ROS Kinetic

操作步骤

• 安装OpenManipulator包

$ cd ~/catkin_ws/src/
$ git clone https://github.com/ROBOTIS-GIT/open_manipulator_with_tb3.git
$ git clone https://github.com/ROBOTIS-GIT/open_manipulator_with_tb3_msgs.git
$ git clone https://github.com/ROBOTIS-GIT/open_manipulator_with_tb3_simulations.git
$ git clone https://github.com/ROBOTIS-GIT/open_manipulator_perceptions.git
$ sudo apt-get install ros-kinetic-smach* ros-kinetic-ar-track-alvar ros-kinetic-ar-track-alvar-msgs
$ cd ~/catkin_ws && catkin_make

• 新终端，在Gazebo环境加载TurtleBot3 with OpenManipulator

$ export TURTLEBOT3_MODEL=waffle_pi
$ roslaunch open_manipulator_with_tb3_gazebo empty_world.launch

• 新终端，查看发布的topic

$ rostopic list
/clock
/gazebo/link_states
/gazebo/model_states
/gazebo/parameter_descriptions
/gazebo/parameter_updates
/gazebo/set_link_state
/gazebo/set_model_state
/gazebo_gui/parameter_descriptions
/gazebo_gui/parameter_updates
/gazebo_ros_control/pid_gains/gripper/parameter_descriptions
/gazebo_ros_control/pid_gains/gripper/parameter_updates
/gazebo_ros_control/pid_gains/gripper/state
/gazebo_ros_control/pid_gains/gripper_sub/parameter_descriptions
/gazebo_ros_control/pid_gains/gripper_sub/parameter_updates
/gazebo_ros_control/pid_gains/gripper_sub/state
/gazebo_ros_control/pid_gains/joint1/parameter_descriptions
/gazebo_ros_control/pid_gains/joint1/parameter_updates
/gazebo_ros_control/pid_gains/joint1/state
/gazebo_ros_control/pid_gains/joint2/parameter_descriptions
/gazebo_ros_control/pid_gains/joint2/parameter_updates
/gazebo_ros_control/pid_gains/joint2/state
/gazebo_ros_control/pid_gains/joint3/parameter_descriptions
/gazebo_ros_control/pid_gains/joint3/parameter_updates
/gazebo_ros_control/pid_gains/joint3/state
/gazebo_ros_control/pid_gains/joint4/parameter_descriptions
/gazebo_ros_control/pid_gains/joint4/parameter_updates
/gazebo_ros_control/pid_gains/joint4/state
/om_with_tb3/camera/parameter_descriptions
/om_with_tb3/camera/parameter_updates
/om_with_tb3/camera/rgb/camera_info
/om_with_tb3/camera/rgb/image_raw
/om_with_tb3/camera/rgb/image_raw/compressed
/om_with_tb3/camera/rgb/image_raw/compressed/parameter_descriptions
/om_with_tb3/camera/rgb/image_raw/compressed/parameter_updates
/om_with_tb3/camera/rgb/image_raw/compressedDepth
/om_with_tb3/camera/rgb/image_raw/compressedDepth/parameter_descriptions
/om_with_tb3/camera/rgb/image_raw/compressedDepth/parameter_updates
/om_with_tb3/camera/rgb/image_raw/theora
/om_with_tb3/camera/rgb/image_raw/theora/parameter_descriptions
/om_with_tb3/camera/rgb/image_raw/theora/parameter_updates
/om_with_tb3/cmd_vel
/om_with_tb3/gripper_position/command
/om_with_tb3/gripper_sub_position/command
/om_with_tb3/imu
/om_with_tb3/joint1_position/command
/om_with_tb3/joint2_position/command
/om_with_tb3/joint3_position/command
/om_with_tb3/joint4_position/command
/om_with_tb3/joint_states
/om_with_tb3/odom
/om_with_tb3/scan
/rosout
/rosout_agg
/tf
/tf_static

• 新终端，使用ROS message 来控制，例如;

$ rostopic pub /om_with_tb3/joint4_position/command std_msgs/Float64 "data: -0.21" --once

抓放示例

• 新终端，加载Gazebo环境

$ roslaunch open_manipulator_with_tb3_gazebo rooms.launch use_platform:=false

• 新终端，启动navigation和moveIt!

$ roslaunch open_manipulator_with_tb3_tools rooms.launch use_platform:=false

• 新终端，启动任务控制器

$ roslaunch open_manipulator_with_tb3_tools task_controller.launch 

参考资料

• http://emanual.robotis.com/docs/en/platform/turtlebot3/manipulation/#simulation