WS23_Door_Opening

Ubuntu Distribution	Ubuntu 20.04 - Focal Fossa
ROS1 Distribution	noetic

Overview

This repository provides scripts to open a door with a Kinova arm Gen3 with 7 DoF using the Vision module to obtain the coordinates of the door's handle.

Required Clone Repo

git clone [email protected]:HBRS-SDP/ws23-door-opening.git

ros_kortex

• Refer to the Github ros_kortex repo to get information about the packages to interact with Kortex

[email protected]:Kinovarobotics/ros_kortex.git

• Refer to the ros_kortex_vision repo to get information about the access to the Kinova Vision module.

[email protected]:Kinovarobotics/ros_kortex_vision.git

Usage

Kinova arm connection

1. Turn the Kinova arm on
2. Connect the pc with cable ethernet
3. Make sure that the IP from your computer is connected to the same network as the arm

Tip

Type the Kinova arm IP in your browser to check if your connection was successful

Update launch file

1. Go to ros_kortex/kortex_driver/launch/kortex_driver.launch
2. Verify that the IP adress (line 21) matches the arm's IP
3. Add default gripper (line 13) <arg name="gripper" default="robotiq_2f_85" if="$(eval arg('arm') == 'gen3')"/>

Steps in terminal

For every terminal that is used:

1. Source ros .*sh files

source /opt/ros/netic/setup.bash

2. Source ros devel folder

source devel/setup.bash

3. Build the code in the workspace

catkin build

4. Launch the following files for arm movement:

roslaunch kortex_driver kortex_driver.launch

5. Launch the following files for initializing the kinova_vision node:

roslaunch kinova_vision kinova_vision.launch
rosrun rviz rviz

Visualize information of the camera in Rviz

Subscribe to the following topics:

• /camera/color/image_raw
• /camera/depth_registered/points

Visualize force plot

1. Install PlotJuggler

rosrun plotjuggler plotjuggler

2. Launch it with the command

rosrun plotjuggler plotjuggler

3. Under the Streaming tab select ROS topic Subscriber
4. Grab the topics you want to visualize to the tab in the right

Tip

For more information of how to use PlotJuggler, visit PlotJuggler