Locomanipulation

Prerequisits

Considering you have Ubuntu 18.04 installed, you'll need to install ROS Melodic accordignly. For more information check http://wiki.ros.org/melodic/Installation/Ubuntu

Create your workspace

copy these commands in your terminal:

$ source /opt/ros/melodic/setup.bash
$ mkdir <your_ws>
$ cd <your_ws>
$ catkin_make

If you have trouble making workspace checkout this link http://wiki.ros.org/catkin/Tutorials/create_a_workspace

After creating your workspace clone our repository:

$ git clone https://github.com/nooshin-kohli/locomanipolation.git

Run simulation

In your workspace open a terminal:

$ source devel/setup.bash

Arms

Object attached to hands:

For arms with effort controller and box in hands run:

$ roslaunch test_hand urdf_gaz.launch

For rviz:

$ roslaunch test_hand urdf_rviz.launch

• note: In RViz Change fixed frame to world or trunk
• note: In RViz add robotmodel plugin for visualizing robot.

Just arms:

For arms position control:

$ roslaunch test_hand arm_position.launch

To spawn box in new terminal run:

$ cd <your_ws>
$ source devel/setup.bash 
$ rosrun test_hand spawn_model.py

To grasp object, in new terminal:

$ cd <your_ws>
$ source devel/setup.bash 
$ rosrun test_hand grasp_box.py

For arms effort control:

$ roslaunch test_hand hand_pos.launch 

legs

To spawn quadruped in gazebo:

$ roslaunch test_hand leg_gazebo.launch

Whole robot

For visiualizing whole robot in rviz:

roslaunch test_hand robot_rviz.launch 

Whole robot in gazebo:

roslaunch test_hand robot_gazebo.launch

You can run rviz in parallel with Gazebo. After running any demo in Gazebo, open a new terminal and type:

rviz rviz 

Afterwards, you can add desired plugins. For instance you can add TF plugin and spot frames.