Bimanual Manipulation Setup and Examples
This example demonstrates three key developments
- Configuring an arbitrary arm for MoveIt and Gazebo
- Launch two robots in an environment as well as move_group modification
- Add and configure two arms for RexROV then demonstrate key movements
MoveIt is an open-source project that provides the tools to develop complex manipulation scenarios. It integrates a number of motion planning libraries. MoveIt runs on top of ROS and builds on ROS functionality.
After configuring one arm, we can make small modifications to allow for N arms in a simulation. In this example, we add group namespaces to several files to allow us to add two arms to one simulation while not having to generate separate controller files.
To start the Gazebo simulation in an empty world, run
roslaunch dave_demo_launch dave_two_arm_demo.launch
Once the controllers have loaded it is safe to start the MoveIt move group and RViz
roslaunch oberon7_moveit_config oberon7_multi_planning_execution.launch
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Starting the Gazebo simulation in the dave_ocean_waves.world world.
roslaunch dave_demo_launch dave_oberon7_moveit.launch
Once the simulation has started and controllers have been loaded, the MoveIt interface can be started along with RViz. Starting this prematurely will result in the example not working.
roslaunch rexrov_oberon7_moveit rexrov_dual_arm_moveit_planning_execution.launch moveit_controller_manager:=rexrov
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There are s
We can run a simple demo showing a start sequence