Servingbot

These are packages for mobile manipulator control.

Node Communication

Scenario video

https://youtu.be/7-oHuMfVjQM

Reference site

Mobile robot

• RPlidar_ros : http://wiki.ros.org/rplidar

• Turtlebot3 : http://wiki.ros.org/turtlebot3

• Navigation tuning : http://emanual.robotis.com/docs/en/platform/turtlebot3/navigation/#tuning-guide

Manipulator

• MoveIt : https://moveit.ros.org/

• Realsense : http://wiki.ros.org/RealSense

• Realsense in Jetson TX2 : https://www.jetsonhacks.com/2017/08/14/intel-realsense-camera-librealsense-nvidia-jetson-tx-dev-kits/

• Find_object : http://wiki.ros.org/find_object_2d

Requirements

Mobile robot

Install SLAM and Navigation Package

$ sudo apt-get install ros-kinetic-move-base
$ sudo apt-get install ros-kinetic-gmapping

If you include the packages about navigation-kinetic-devel, you don't need you install below components

$ sudo apt-get install ros-kinetic-amcl
$ sudo apt-get install ros-kinetic-rosserial-python
$ sudo apt-get install ros-kinetic-map-server
$ sudo apt-get install ros-kinetic-range-sensor-layer
$ sudo apt-get install ros-kinetic-global-planner
$ sudo apt-get install ros-kinetic-dwa-local-planner
$ sudo apt-get install ros-kinetic-sensor-msgs

If you have errors about turtlebot3_msgs, download the package.

$ cd ~/catkin_ws/src
$ git clone https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git

Manipulator

Install Moveit

$ sudo apt-get install ros-kinetic-moveit

Install Realsense SDK 2.0

This robot used librealsense v2.10.3 and realsense_ros 2.0.4.

Set object image folder location

Modify the objects folder path of find_object_3d_D415.launch

<param name="objects_path" value="~/Pictures/objects" type="str"/>

Application

Download App

Setup for embedded PC

Time synchronization

If this command doesn't work, you will have to fix it manually.

$ sudo ntpdate -u time.bora.net

Power mode setting for Jetson TX2

$ roslaunch servingbot_bringup servingbot_robot.launch

How to run "ServingBot"

Run Mobile Manipulator

• Mobile robot

Excute the Mobile robot with navigation

1.  $ roslaunch servingbot_navigation servingbot_navigation_all.launch 

• Manipulator

Excute the Manipulator with find objects

2.  $ roslaunch manipulator_moveit_config_second manipulator_all.launch 

• Simple_navigation_goal

Excute the package that stores location information

3.  $ rosrun simple_navigation_goals_pose simple_navigation_goals_pose 

• App communication

Receive order information from Tablet

4.  $ rosrun rosjava_catkin_package_a my_pub_sub_tutorial com.github.rosjava.rosjava_catkin_package_a.my_pub_sub_tutorial.Talker 

Run only Mobile robot

• Bringup

Excute the robot

$ roslaunch servingbot_bringup servingbot_robot.launch

• Mapping

Excute slam with gmapping

$ roslaunch servingbot_slam servingbot_slam.launch

Teleoperation using keyboard

$ roslaunch servingbot_teleop servingbot_teleop_key.launch

Save the map

$ rosrun map_server map_saver -f {file_name}

• Navigation

Excute the navigation package

$ roslaunch servingbot_navigation servingbot_navigation.launch

Excute the package that stores location information

$ rosrun simple_navigation_goals_pose simple_navigation_goals_pose

Run only Manipulator

• Bringup

Excute the robot

$ roslaunch servingbot_bringup servingbot_core.launch

• MoveIt

Direct control of the Manipulator with Rviz

$ roslaunch manipulator_moveit_config_second demo.launch

Etc

• Excute realsense device

$ roslaunch realsense2_camera rs_camera.launch

• Excute find objects

Excute only find objects

$ roslaunch find_object_2d find_object_3d.launch

Excute find objects with D415

$ roslaunch find_object_2d find_object_3d_D415.launch

• Communication between Mobile robot and Manipulator

$ roslaunch serving_bot serving_bot.launch