SSK: Robotic Pen-Art System for Large, Nonplanar Canvas

Tested on Ubuntu 18.04 with ROS Melodic.

This repository provides ROS-based simulation and visualization on a large-scale robotic drawing system using our customed, integrated robots, ridgeback mobile platform with KUKA LBR iiwa 7 R800 manipulator.

It partially contains the implementation of our paper "SSK: Robotic Pen-Art System for Large, Nonplanar Canvas", published in IEEE T-RO.

Build and Compile

1. Clone this repository:

mkdir ros_ws && cd ros_ws && mkdir src
catkin_init_workspace
cd src
git clone https://github.com/daeunSong/large_scale_drawing.git

2. Clone iiwa and ridgeback related repositories:

git clone -b glab/drawing https://github.com/daeunSong/iiwa_stack.git
git clone -b glab/integration https://github.com/daeunSong/ridgeback.git
git clone https://github.com/ridgeback/ridgeback_desktop.git
git clone https://github.com/ridgeback/ridgeback_simulator.git
git clone https://github.com/daeunSong/ridgeback_iiwa_integration.git

3. Install the dependencies:

sudo apt-get install python-catkin-tools
pip install numpy matplotlib

cd ..
rosdep install --from-paths src --ignore-src -r -y

4. Build the workspace:

catkin build

5. Set your workspace:

echo "source ~/ros_ws/devel/setup.bash" >> ~/.bashrc

6. Add a parameter for robot description:

echo "export RIDGEBACK_URDF_EXTRAS=$(catkin_find ridgeback_iiwa_description urdf/ridgeback_iiwa_robot.urdf.xacro --first-only)" >> ~/.bashrc

7. source the bash file:

source ~/.bashrc

Demo

1. Run gazebo and bring up the robot model

roslaunch ridgeback_iiwa_gazebo ridgeback_iiwa_gazebo.launch world_name:=empty

If you change the pyshics/real time update rate value to 0, the simulation will run as fast as it can.

2. Run moveIt! and rviz visualization related nodes

roslaunch large_scale_drawing prep_drawing_moveit.launch

3. Run robot drawing manager

roslaunch large_scale_drawing drawing_manager.launch

4. After few seconds run the Ridgeback node

rosrun large_scale_drawing ridgeback.py

To change the drawing input, change the name of the configuration file in here. Please refer to the details of the config file in here and the input drawing file in here.

Citation

IEEE T-RO 2023, "SSK: Robotic Pen-Art System for Large, Nonplanar Canvas"

@ARTICLE{10114055,
    author={Song, Daeun and Park, Jiyoon and Kim, Young J.},
    journal={IEEE Transactions on Robotics}, 
    title={SSK: Robotic Pen-Art System for Large, Nonplanar Canvas}, 
    year={2023},
    volume={39},
    number={4},
    pages={3106-3119},
    doi={10.1109/TRO.2023.3268585}
}

IEEE ICRA 2019, "Distortion-free Robotic Surface-drawing using Conformal Mapping"

@inproceedings{song2019distortion,
    title={Distortion-free Robotic Surface-drawing using Conformal Mapping},
    author={Song, Daeun and Kim, Young J},
    booktitle={2019 International Conference on Robotics and Automation (ICRA)},
    pages={627--633},
    year={2019},
    organization={IEEE}
}

IEEE ICRA 2018, "Artistic Pen Drawing on an Arbitrary Surface using an Impedance-controlled Robot":

@inproceedings{song2018artistic,
    title={Artistic pen drawing on an arbitrary surface using an impedance-controlled robot},
    author={Song, Daeun and Lee, Taekhee and Kim, Young J},
    booktitle={2018 IEEE International Conference on Robotics and Automation (ICRA)},
    pages={4085--4090},
    year={2018},
    organization={IEEE}
}