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Commit bcdce4a0 authored by Jan Holzheim's avatar Jan Holzheim
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Updated docker file

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00_GettingStarted/docker/i2r/Dockerfile
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......@@ -19,5 +19,22 @@ RUN apt-get update && apt-get dist-upgrade -y \
RUN cd ~/catkin_ws/src
RUN cd ~/catkin_ws \
&& catkin config --extend /opt/ros/${ROS_DISTRO} --cmake-args -DCMAKE_BUILD_TYPE=Release \
&& catkin config --extend /opt/ros/${ROS_DISTRO} --cmake-args -DCMAKE_BUILD_TYPE=Release
RUN apt-get update && apt-get install -y ros-melodic-joy ros-melodic-teleop-twist-joy \
ros-melodic-teleop-twist-keyboard ros-melodic-laser-proc \
ros-melodic-rgbd-launch ros-melodic-depthimage-to-laserscan \
ros-melodic-rosserial-arduino ros-melodic-rosserial-python \
ros-melodic-rosserial-server ros-melodic-rosserial-client \
ros-melodic-rosserial-msgs ros-melodic-amcl ros-melodic-map-server \
ros-melodic-move-base ros-melodic-urdf ros-melodic-xacro \
ros-melodic-compressed-image-transport ros-melodic-rqt* \
ros-melodic-gmapping ros-melodic-navigation ros-melodic-interactive-markers
RUN apt-get update && apt-get install -y ros-melodic-dynamixel-sdk \
ros-melodic-turtlebot3-msgs ros-melodic-turtlebot3
RUN echo "export TURTLEBOT3_MODEL=burger" >> ~/.bashrc && source ~/.bashrc
RUN cd ~/catkin_ws/src
RUN git clone -b melodic-devel https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git
00_GettingStarted/docker/i2r/catkin_ws/src/task_3/CMakeLists.txt 0 → 100644
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cmake_minimum_required(VERSION 3.0.2)
project(task_3)
## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
geometry_msgs
rospy
sensor_msgs
)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()
################################################
## Declare ROS messages, services and actions ##
################################################
## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend tag for "message_generation"
## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
## but can be declared for certainty nonetheless:
## * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
## Generate messages in the 'msg' folder
# add_message_files(
# FILES
# Message1.msg
# Message2.msg
# )
## Generate services in the 'srv' folder
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )
## Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )
## Generate added messages and services with any dependencies listed here
# generate_messages(
# DEPENDENCIES
# geometry_msgs# sensor_msgs
# )
################################################
## Declare ROS dynamic reconfigure parameters ##
################################################
## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
## * add "dynamic_reconfigure" to
## find_package(catkin REQUIRED COMPONENTS ...)
## * uncomment the "generate_dynamic_reconfigure_options" section below
## and list every .cfg file to be processed
## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
# cfg/DynReconf1.cfg
# cfg/DynReconf2.cfg
# )
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
# INCLUDE_DIRS include
LIBRARIES task_3
CATKIN_DEPENDS geometry_msgs rospy sensor_msgs
# DEPENDS system_lib
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
# include
${catkin_INCLUDE_DIRS}
)
## Declare a C++ library
# add_library(${PROJECT_NAME}
# src/${PROJECT_NAME}/task_3.cpp
# )
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/task_3_node.cpp)
## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
# ${catkin_LIBRARIES}
# )
#############
## Install ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
# Mark executable scripts (Python etc.) for installation
# in contrast to setup.py, you can choose the destination
catkin_install_python(PROGRAMS
scripts/simple_auto_drive.py
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )
## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
# )
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_task_3.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
00_GettingStarted/docker/i2r/catkin_ws/src/task_3/package.xml 0 → 100644
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<?xml version="1.0"?>
<package format="2">
<name>task_3</name>
<version>0.0.0</version>
<description>The task_3 package</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
<maintainer email="robotics@todo.todo">robotics</maintainer>
<!-- One license tag required, multiple allowed, one license per tag -->
<!-- Commonly used license strings: -->
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
<license>TODO</license>
<!-- Url tags are optional, but multiple are allowed, one per tag -->
<!-- Optional attribute type can be: website, bugtracker, or repository -->
<!-- Example: -->
<!-- <url type="website">http://wiki.ros.org/task_3</url> -->
<!-- Author tags are optional, multiple are allowed, one per tag -->
<!-- Authors do not have to be maintainers, but could be -->
<!-- Example: -->
<!-- <author email="jane.doe@example.com">Jane Doe</author> -->
<!-- The *depend tags are used to specify dependencies -->
<!-- Dependencies can be catkin packages or system dependencies -->
<!-- Examples: -->
<!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
<!-- <depend>roscpp</depend> -->
<!-- Note that this is equivalent to the following: -->
<!-- <build_depend>roscpp</build_depend> -->
<!-- <exec_depend>roscpp</exec_depend> -->
<!-- Use build_depend for packages you need at compile time: -->
<!-- <build_depend>message_generation</build_depend> -->
<!-- Use build_export_depend for packages you need in order to build against this package: -->
<!-- <build_export_depend>message_generation</build_export_depend> -->
<!-- Use buildtool_depend for build tool packages: -->
<!-- <buildtool_depend>catkin</buildtool_depend> -->
<!-- Use exec_depend for packages you need at runtime: -->
<!-- <exec_depend>message_runtime</exec_depend> -->
<!-- Use test_depend for packages you need only for testing: -->
<!-- <test_depend>gtest</test_depend> -->
<!-- Use doc_depend for packages you need only for building documentation: -->
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
<build_depend>geometry_msgs</build_depend>
<build_depend>rospy</build_depend>
<build_depend>sensor_msgs</build_depend>
<build_export_depend>geometry_msgs</build_export_depend>
<build_export_depend>rospy</build_export_depend>
<build_export_depend>sensor_msgs</build_export_depend>
<exec_depend>geometry_msgs</exec_depend>
<exec_depend>rospy</exec_depend>
<exec_depend>sensor_msgs</exec_depend>
<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- Other tools can request additional information be placed here -->
</export>
</package>
00_GettingStarted/docker/i2r/catkin_ws/src/task_3/scripts/simple_auto_drive.py 0 → 100644
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#!/usr/bin/env python
# Task 3
import rospy
from sensor_msgs.msg import LaserScan
from geometry_msgs.msg import Twist
def callback(dt):
print '-------------------------------------------'
print 'Range data at 0 deg: {}'.format(dt.ranges[0])
print 'Range data at 15 deg: {}'.format(dt.ranges[15])
print 'Range data at 345 deg: {}'.format(dt.ranges[345])
print '-------------------------------------------'
thr1 = 0.8 # Laser scan range threshold
thr2 = 0.8
if dt.ranges[0]>thr1 and dt.ranges[15]>thr2 and dt.ranges[345]>thr2: # Checks if there are obstacles in front and
# 15 degrees left and right (Try changing the
# the angle values as well as the thresholds)
move.linear.x = 0.5 # go forward (linear velocity)
move.angular.z = 0.0 # do not rotate (angular velocity)
else:
move.linear.x = 0.0 # stop
move.angular.z = 0.5 # rotate counter-clockwise
if dt.ranges[0]>thr1 and dt.ranges[15]>thr2 and dt.ranges[345]>thr2:
move.linear.x = 0.5
move.angular.z = 0.0
pub.publish(move) # publish the move object
move = Twist() # Creates a Twist message type object
rospy.init_node('obstacle_avoidance_node') # Initializes a node
pub = rospy.Publisher("/cmd_vel", Twist, queue_size=10) # Publisher object which will publish "Twist" type messages
# on the "/cmd_vel" Topic, "queue_size" is the size of the
# outgoing message queue used for asynchronous publishing
sub = rospy.Subscriber("/scan", LaserScan, callback) # Subscriber object which will listen "LaserScan" type messages
# from the "/scan" Topic and call the "callback" function
# each time it reads something from the Topic
rospy.spin() # Loops infinitely until someone stops the program execution
\ No newline at end of file
00_GettingStarted/docker/i2r/catkin_ws/src/testing_moveit/scripts/testing_moveit.py
+ 151
− 4
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......@@ -9,6 +9,7 @@ import geometry_msgs.msg
import moveit_msgs.msg
from trajectory_msgs.msg import JointTrajectoryPoint
import tf
from math import pi
print("--- Imports done! ---")
......@@ -66,9 +67,10 @@ display_trajectories_publisher = rospy.Publisher("/move_group/display_planned_pa
print("Executed: display_trajectories_publisher = rospy.Publisher(\"/move_group/display_planned_path\", moveit_msgs.msg.DisplayTrajectory, queue_size=20)")
rospy.sleep(5)
print('Planning scene objects:', scene.get_objects())
scene.remove_world_object("table1")
scene.remove_world_object("table")
scene.remove_world_object("table2")
scene.remove_world_object("object1")
scene.remove_world_object("box1")
rospy.sleep(5)
#### Defining Objects
......@@ -79,19 +81,164 @@ box1_id = 'box1'
target_id = 'target'
tool_id = 'tool'
table_ground = 0.65
table_ground = 0.3
table_size = [0.2, 0.7, 0.01]
box_1_size = [0.1, 0.05, 0.05]
target_size = [0.02, 0.01, 0.12]
##### Placing objects
# Table
table_pose = geometry_msgs.msg.PoseStamped()
table_pose.header.frame_id = planning_frame
table_pose.pose.position.x = 0
table_pose.pose.position.x = 0.5
table_pose.pose.position.y = 0
table_pose.pose.position.z = (table_ground + table_size[2]/2)
table_pose.pose.orientation.w = 1.0
scene.add_box(table_id, table_pose, table_size)
print("Added " + table_id + " to the scene!")
# Box
box_pose = geometry_msgs.msg.PoseStamped()
box_pose.header.frame_id = planning_frame
box_pose.pose.position.x = 0.5
box_pose.pose.position.y = 0
box_pose.pose.position.z = (table_ground + table_size[2] + box_1_size[2]/2)
box_pose.pose.orientation.w = 1.0
scene.add_box(box1_id, box_pose, box_1_size)
print("Added " + box1_id + " to the scene!")
rospy.sleep(5)
#### Grasp
# Documentation of message definition: https://docs.ros.org/en/melodic/api/moveit_msgs/html/msg/Grasp.html
g = moveit_msgs.msg.Grasp()
g.id = "grasp_box1"
# defining the grasp pose
grasp_pose = geometry_msgs.msg.PoseStamped()
grasp_pose.header.frame_id = planning_frame
grasp_pose.pose.position.x = -0.5
grasp_pose.pose.position.y = 0
grasp_pose.pose.position.z = 0.55
quaternion = tf.transformations.quaternion_from_euler(math.radians(180), 0, math.radians(135))
print("-----------------------------------------------")
print("Quaternion: ",quaternion)
print("-----------------------------------------------")
grasp_pose.pose.orientation.x = quaternion[0]
grasp_pose.pose.orientation.y = quaternion[1]
grasp_pose.pose.orientation.z = quaternion[2]
grasp_pose.pose.orientation.w = quaternion[3]
#grasp_pose.pose.orientation.x = 0.924
#grasp_pose.pose.orientation.y = -0.383
#grasp_pose.pose.orientation.z = 0
#grasp_pose.pose.orientation.w = 0
print("Grasp pose z-position = "+str((table_ground + table_size[2] + box_1_size[2]/2)))
move_group.set_planning_time(15)
joint_goal = move_group.get_current_joint_values()
joint_goal[0] = 0
joint_goal[1] = -pi/4
joint_goal[2] = 0
joint_goal[3] = -pi/2
joint_goal[4] = 0
joint_goal[5] = pi/3
joint_goal[6] = 0
# The go command can be called with joint values, poses, or without any
# parameters if you have already set the pose or joint target for the group
move_group.go(joint_goal, wait=True)
# Calling ``stop()`` ensures that there is no residual movement
move_group.stop()
#move_group.set_goal_tolerance(0.2)
move_group.set_goal_position_tolerance(1E-2)
move_group.set_goal_orientation_tolerance(1E-3)
move_group.set_num_planning_attempts(5)
move_group.set_planning_time(10)
move_group.set_planner_id("RRTstar")
print("-----------------------------------------------")
print("Known constraints: ",move_group.get_known_constraints())
print("-----------------------------------------------")
print("Path constraints: ",move_group.get_path_constraints())
print("-----------------------------------------------")
print("Plan: ",move_group.plan())
print("-----------------------------------------------")
move_group.set_pose_target(grasp_pose)
plan = move_group.go(wait=True)
move_group.stop()
move_group.clear_pose_targets()
print("-----------------------------------------------")
print("Current Pose: ",move_group.get_current_pose().pose)
print("-----------------------------------------------")
print("Desired Pose: ", grasp_pose)
print("-----------------------------------------------")
print("Defining Grasp")
grasps = []
g = moveit_msgs.msg.Grasp()
g.allowed_touch_objects.append("box1")
g.allowed_touch_objects.append("table")
# Setting grasp pose
#grasp_pose = geometry_msgs.msg.PoseStamped()
g.grasp_pose.header.frame_id = planning_frame
g.grasp_pose.pose.position.x = 0.5
g.grasp_pose.pose.position.y = 0
g.grasp_pose.pose.position.z = (table_ground + table_size[2] + box_1_size[2] + 0.058 + 0.1)
quaternion = tf.transformations.quaternion_from_euler(math.radians(180), 0, math.radians(135))
g.grasp_pose.pose.orientation.x = quaternion[0]
g.grasp_pose.pose.orientation.y = quaternion[1]
g.grasp_pose.pose.orientation.z = quaternion[2]
g.grasp_pose.pose.orientation.w = quaternion[3]
# Setting pre-grasp approach
g.pre_grasp_approach.direction.header.frame_id = planning_frame
g.pre_grasp_approach.direction.vector.z = -1.0
g.pre_grasp_approach.min_distance = 0.01
g.pre_grasp_approach.desired_distance = 0.1
# Setting post-grasp retreat
g.post_grasp_retreat.direction.header.frame_id = planning_frame
g.post_grasp_retreat.direction.vector.x = 1.0
g.post_grasp_retreat.min_distance = 0.15
g.post_grasp_retreat.desired_distance = 0.25
# Setting posture of eef before grasp
g.pre_grasp_posture.header.frame_id = planning_frame
g.pre_grasp_posture.joint_names = ["panda_finger_joint1","panda_finger_joint2"]
pos_open = JointTrajectoryPoint()
pos_open.positions.append(float(0.06))
g.pre_grasp_posture.points.append(pos_open)
#### set the grasp posture
g.grasp_posture.header.frame_id = planning_frame
g.grasp_posture.joint_names = ["panda_finger_joint1","panda_finger_joint2"]
pos_close = JointTrajectoryPoint()
pos_close.positions.append(float(0.00))
g.grasp_posture.points.append(pos_close)
print("g: ",g)
#### Grasping
grasps.append(g)
print("-----------------------------------------------")
print("Executing Pick task")
move_group.pick("box1", grasps)
\ No newline at end of file
turtlebot3_simulations @ 5172a8ed
Subproject commit 5172a8ed535173226cad39f4583ce6b15e0a30c1
universal_robot @ 6507bb67
Subproject commit 6507bb6756d0065d49b76230ff55f875f099a827
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