Franka_simulation

Utility for automatic simulation depth data generation for objects from the YCB dataset. Here only four of them are used:

1. Cricket_ball
2. chips_can
3. 025_mug_textured
4. 029_plate_textured

Be sure to add these object models or any other models you want to use in your .gazebo/models folder beforehand.

Installation

To get started with Franka_simulation:

1. Clone this repository to your ros workspace under /src.
2. Clone the panda_moveit_config from here:

   https://github.com/tahsinkose/panda_moveit_config.git
   

3. Build your ros workspace.

Usage

• Run the following launch file to run the simulation.

  roslaunch panda_moveit_config demo_gazebo.launch
  

• Then, run the following script to generate images of the objects.

  rosrun panda_sim spawn_model.py
  

• Any changes you need to do for different set of objects can be done in spawn_model.py file.

Original Package Attribution

The frank_ros package of this project is based on the following repository franka_ros.

Modifications

The following modifications have been made to the original package to adapt it to the needs of this project:

• Added the Kinect sensor to the URDF for the depth image capture.
• Configured the panda.launch file for this specific use case.

Compatibility

This project is compatible with the following environment:

• Operating System: Ubuntu 20.04
• ROS Distribution: Noetic