Turtlebot3-ARM入门教程-抓取挑战之单个目标抓取测试
** 说明
- 本教程介绍如何进行一个简单快速的单个目标抓取测试
操作步骤
下面进行一个简单的快速抓取测试
在一个空旷的地方创建地图,AR标志可以后面再放上去 | 建图教程
类似像下图一样围起来一个2.5x3米的场景
[Remote PC] 备份好
scenario.yaml和room.yaml文件,再将其替换为下面内容scenario.yaml
start :
task : none
args : [0]
timeout : 0 #sec, 0 : no time out
next_scenario : find_object_1
scenario_on_failure : finish
retry_times : 0 #times, 0 : no retry
# ==============================================
# =================== room 1 ===================
find_object_1 :
task : find_object
args : [room_1, object]
timeout : 0 #sec, 0 : no time out
next_scenario : nav_to_object_1
scenario_on_failure : standby
retry_times : 10 #times, 0 : no retry
nav_to_object_1 :
task : navigation
args : [room_1, object, none, none] # room number, target type, room_number(real target), type
timeout : 90 #sec, 0 : no time out
next_scenario : approach_to_object_1
scenario_on_failure : standby
retry_times : 3 #times, 0 : no retry
approach_to_object_1 :
task : approach
args : [room_1, object, 2] # room number, target type, repeat number
timeout : 0 #sec, 0 : no time out
next_scenario : pick_object_1
scenario_on_failure : standby
retry_times : 0 #times, 0 : no retry
pick_object_1:
task : manipulation_task
args : [room_1, object]
timeout : 0 #sec, 0 : no time out
next_scenario: grasp_on_1
scenario_on_failure : standby
retry_times : 0
grasp_on_1:
task : gripper
args : [close]
timeout : 0 #sec, 0 : no time out
next_scenario : move_arm_to_via_1
scenario_on_failure : standby
retry_times : 0
move_arm_to_via_1:
task : manipulation_joint3
args : [via_pose]
timeout : 0 #sec, 0 : no time out
next_scenario : move_arm_to_home_1
scenario_on_failure : standby
retry_times : 0
move_arm_to_home_1:
task : manipulation_joint
args : [home_with_object]
timeout : 0 #sec, 0 : no time out
next_scenario : leave_object_1
scenario_on_failure : standby
retry_times : 0
leave_object_1:
task : leave
args : [0.20] # leave distance
timeout : 0 #sec, 0 : no time out
next_scenario : turn_to_room_1
scenario_on_failure : standby
retry_times : 0
turn_to_room_1:
task : turn
args : [room_1]
timeout : 0 #sec, 0 : no time out
next_scenario : nav_to_room_1
scenario_on_failure : standby
retry_times : 0
nav_to_room_1 :
task : navigation
args : [room_1, none, room_1, target] # room number, target type, room_number(real target), type
timeout : 60 #sec, 0 : no time out
next_scenario : find_target_1
scenario_on_failure : standby
retry_times : 3 #times, 0 : no retry
find_target_1 :
task : find_object
args : [room_1, target]
timeout : 0 #sec, 0 : no time out
next_scenario : nav_to_target_1
scenario_on_failure : standby
retry_times : 3 #times, 0 : no retry
nav_to_target_1 :
task : navigation
args : [room_1, target, none, none] # room number, target type, room_number(real target), type
timeout : 60 #sec, 0 : no time out
next_scenario : approach_to_target_1
scenario_on_failure : standby
retry_times : 3 #times, 0 : no retry
approach_to_target_1 :
task : approach
args : [room_1, target, 1] # room number, target type, repeat number
timeout : 0 #sec, 0 : no time out
next_scenario : move_arm_to_via_1b
scenario_on_failure : standby
retry_times : 0 #times, 0 : no retry
move_arm_to_via_1b:
task : manipulation_joint
args : [via_pose]
timeout : 0 #sec, 0 : no time out
next_scenario : place_target_1
scenario_on_failure : standby
retry_times : 0
place_target_1:
task : manipulation_task
args : [room_1, target]
timeout : 0 #sec, 0 : no time out
next_scenario: grasp_off_1
scenario_on_failure : standby
retry_times : 0
grasp_off_1:
task : gripper
args : [open]
timeout : 0 #sec, 0 : no time out
next_scenario : move_arm_to_home_1b
scenario_on_failure : standby
retry_times : 0
move_arm_to_home_1b:
task : manipulation_joint
args : [home_with_object]
timeout : 0 #sec, 0 : no time out
next_scenario : leave_target_1
scenario_on_failure : standby
retry_times : 0
leave_target_1:
task : leave
args : [0.20] # leave distance
timeout : 0 #sec, 0 : no time out
next_scenario : turn_to_start_1
scenario_on_failure : standby
retry_times : 0
turn_to_start_1:
task : turn
args : [start]
timeout : 10
next_scenario : nav_to_start_1
scenario_on_failure : standby
retry_times : 0
nav_to_start_1:
task : navigation
args : [start, none, none, none] # room number, target type, room_number(real target), type
timeout : 60 #sec, 0 : no time out
next_scenario : finsh
scenario_on_failure : standby
retry_times : 3 #times, 0 : no retry
finish :
timeout : 1 #sec, 0 : no time out
task : none
args : [0]
next_scenario : none
scenario_on_failure : finish
retry_times : 0 #times, 0 : no retry
standby :
task : navigation
args : [start, none, none, none] # room number, target type, room_number(real target), type
timeout : 60 #sec, 0 : no time out
next_scenario : finish
scenario_on_failure : finish
retry_times : 0 #times, 0 : no retry
- room.yaml
room_1 :
name : test_room
object :
marker : ar_marker_0
position : [0.25, 0, 0.15]
target :
marker : ar_marker_4
position : [0.25, 0, 0.15]
x : [0, 0]
y : [0, 0]
放置机器人在坐标原点位置和放置AR_0和AR_4标志在机器人摄像头可观察到的位置
[Remote PC] 启动machine tag,Moveit,Navigation和Camera
$ roslaunch turtlebot3_home_service_challenge_tools turtlebot3_home_service_challenge_demo_remote.launch
- [Remote PC] 运行manager包
$ roslaunch turtlebot3_home_service_challenge_manager manager.launch
- [Remote PC] 任务命令
// Ready : TurtleBot3 will prepare to start a mission.
$ rostopic pub -1 /tb3_hsc/command std_msgs/String ready_mission
// Start : TurtleBot3 will start a mission.
$ rostopic pub -1 /tb3_hsc/command std_msgs/String start_mission
// Stop : TurtleBot3 will stop running a mission.
$ rostopic pub -1 /tb3_hsc/command std_msgs/String stop_mission
// Restart : TurtleBot3 will restart a mission by a given scenario.
$ rostopic pub -1 /tb3_hsc/command std_msgs/String restart_mission:SCENARIO_NAME
演示视频
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