Bimur

Bimur (Bi-manual UR5). This repository is for packages related to UR5 at AIR Lab, Tufts.

Installation

git clone https://github.com/tufts-ai-robotics-group/Bimur.git

Requirements

1. Ubuntu 16.04
2. ROS Kinetic
3. Gazebo 7.x

ROS Packages

sudo apt-get install ros-kinetic-astra-launch
sudo apt-get install ros-kinetic-catkin-virtualenv
sudo apt-get install ros-kinetic-control-toolbox
sudo apt-get install ros-kinetic-controller-interface
sudo apt-get install ros-kinetic-controller-manager-msgs
sudo apt-get install ros-kinetic-controller-manager
sudo apt-get install ros-kinetic-effort-controllers
sudo apt-get install ros-kinetic-force-torque-sensor-controller
sudo apt-get install ros-kinetic-gazebo-ros-control
sudo apt-get install ros-kinetic-industrial-robot-status-interface
sudo apt-get install ros-kinetic-joint-state-controller
sudo apt-get install ros-kinetic-joint-state-publisher-gui
sudo apt-get install ros-kinetic-joint-trajectory-controller
sudo apt-get install ros-kinetic-moveit
sudo apt-get install ros-kinetic-moveit-core
sudo apt-get install ros-kinetic-moveit-kinematics
sudo apt-get install ros-kinetic-moveit-ros-visualization
sudo apt-get install ros-kinetic-position-controllers
sudo apt-get install ros-kinetic-rqt-joint-trajectory-controller
sudo apt-get install ros-kinetic-socketcan-interface
sudo apt-get install ros-kinetic-soem
sudo apt-get install ros-kinetic-speech-recognition-msgs
sudo apt-get install ros-kinetic-ur-client-library
sudo apt-get install ros-kinetic-velocity-controllers

Following GitHub repo. was used (no need to clone them):

git clone https://github.com/UniversalRobots/Universal_Robots_ROS_Driver.git
git checkout b466518

git clone -b calibration_devel https://github.com/fmauch/universal_robot.git
git checkout e5a176c

git clone https://github.com/StanleyInnovation/robotiq_85_gripper
git checkout 2240a8c

git clone https://github.com/ros-industrial/robotiq.git
git checkout 66961ec

Right Robot

Simulation

Rviz

Launch URDF in Rviz for visualization
roslaunch bimur_description bimur_right_robot_rviz.launch

Gazebo

Launch URDF in Gazebo with specific joint poses:
roslaunch bimur_bringup bimur_right_robot_gazebo_1.launch

Launch URDF in Gazebo with specific kinematics_config:
roslaunch bimur_bringup bimur_right_robot_gazebo_2.launch

Gazebo + MoveIt Rviz:

UR5 Arm:
roslaunch bimur_bringup bimur_right_ur5_arm_gazebo_1_moveit.launch
UR5 Arm + Gripper:
roslaunch bimur_bringup bimur_right_robot_gazebo_1_moveit.launch

Manipulation:

roslaunch bimur_bringup bimur_right_robot_gazebo_1_moveit.launch
rosrun bimur_manipulation gazebo_moveit_example_1.py
rosrun bimur_manipulation gazebo_moveit_example_2.py

Real Robot

In the teach pendant on the robot, select Program Robot > Load Program > Open ur_driver.upr > Press play

roslaunch bimur_bringup bimur_right_robot_real_moveit.launch robot_ip:=172.22.22.2 kinematics_config:="$(rospack find bimur_ur_launch)/etc/bimur_right_arm_calibration.yaml" gripper_test:=true

Manipulation:

roslaunch bimur_bringup bimur_right_robot_real_moveit.launch robot_ip:=172.22.22.2
rosrun bimur_manipulation real_actionclient_example.py
rosrun bimur_manipulation real_moveit_example.py

Start astra camera

• Make sure the camera is plugged into the computer vis USB
  
• Install camera driver: https://github.com/orbbec/ros_astra_camera
  roslaunch astra_launch astra.launch

Start microphone

• Make sure the ReSpeaker Microphone Array is plugged into the computer vis USB
  
• Check audio device name: arecord -l
  
• Install microphone driver: https://github.com/furushchev/respeaker_ros
  roslaunch respeaker_ros respeaker.launch

To perform 7 behaviors (Look, grasp, pick, hold, shake, lower, drop)

rosrun bimur_manipulation real_behaviors.py

To perform push behavior (Arguments for -pt: slow, fast)

rosrun bimur_manipulation real_behaviors.py -pt slow