utbots_manipulation

This stack contains packages related to manipulators, such as:

• theseus_controller: control configurations, custom hardware interface
• theseus_description: manipulator, controller and simulation description files
• theseus_firmware: hardware firmware

Installation

cd <ros2_ws>/src
git clone --recurse-submodules https://github.com/UtBotsAtHome-UTFPR/utbots_manipulation.git

Dependencies

sudo rosdep init
rosdep update
cd <ros2_ws>/src/utbots_manipulation
rosdep install --from-paths theseus_controller theseus_description theseus_firmware -y --ignore-src

As of now, we need to build libserial in theseus_controller from source:

sudo apt update
sudo apt install g++ git autogen autoconf build-essential cmake graphviz \
                 libboost-dev libboost-test-dev libgtest-dev libtool \
                 python3-sip-dev doxygen python3-sphinx pkg-config \
                 python3-sphinx-rtd-theme
mkdir serial_dir
cd serial_dir
git clone https://github.com/crayzeewulf/libserial.git
cd libserial
./compile.sh
cd build
sudo make install

Link path of library:

export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/lib/ # if error in build, run <find /usr -name "libserial.so.1"> and add the path returned by the command

Building

cd ..
colcon build --packages-select theseus_controller theseus_description theseus_firmware --symlink-install

Running

See the usage explanation below

Overview

View URDF model in rviz2

ros2 launch theseus_description display.launch.py

Run manipulator controller in simulation

To initiate the simulator:

ros2 launch theseus_description gazebo.launch.py

To initiate the controllers (it will run and end):

ros2 launch theseus_controller controller.launch.py is_sim:=True

The control of the manipulator is available with JointTrajectoryController (ideal for MoveIt kinematics for control)