dinova_gazebo

dingo-o	kinova	dinova

Requirements

sudo apt install ros-${ROS_DISTRO}-gazebo-ros-control
sudo apt install ros-${ROS_DISTRO}-velocity-controllers
sudo apt install ros-${ROS_DISTRO}-velodyne-gazebo-plugins
sudo apt install ros-${ROS_DISTRO}-velodyne-description
sudo apt install ros-${ROS_DISTRO}-roboticsgroup-upatras-gazebo-plugins  

Running a simulation in Gazebo:

To launch the simulation with dinova:

   roslaunch dinova_gazebo dinova.launch

To launch the simulation with dingo only:

   roslaunch dinova_gazebo dingo.launch

To launch the simulation with kinova only:

   roslaunch dinova_gazebo kinova.launch

To launch the simulation with the lidar and dingo:

   roslaunch dinova_gazebo dingo.launch lidar:=true

Controlling robots

The default mode is position. It can be changed to velocity by setting the mode argument as:

   roslaunch dinova_gazebo dinova.launch mode:=velocity

Position mode

There are two topics for controlling the robot in position mode:

1. /joints_position_controller/command - Position interface for each joint of Kinova: [q1, q2, q3, q4, q5, q6] in rad
2. /omnidrive_position_controller/command - Position interface for omnidrive: [linear_x, linear_y, angular_z] in [m, m, rad]

Velocity mode

There are two topics for controlling the robot:

1. /kinova/command - Velocity interface for each joint of Kinova: [q1, q2, q3, q4, q5, q6] in rad/s
2. /omnidrive_velocity_controller/command - Velocity interface for omnidrive: [linear_x, linear_y, angular_z] in [m/s, m/s, rad/s]

Controlling gripper

To control position of the gripper's right finger send command to:

1. /gripper_position_controller/gripper_cmd/goal

Feedback

1. /dinova/omni_states -> Contains state of the omnibase and arm. Same topic as with the real robot as well. This is only published with dinova.
2. /kinova/joint_states -> Contains state of the arm. Same topic as with the real robot as well. This is only published with kinova.