Meta-Package for the UR5 and 3 Finger-Gripper mounted on Julius

Scope:

This repository is the code stack of my phd-thesis with the topic: Autonomous Instrumentation of old underground mines using a mobile manipulator. It depends heavily on packages from the robot (Julius). For further information please feel free to contace me: research(at)steve-grehl.eu

Publications:

• Paper: Design of an Autonomous Robot for Mapping, Navigation, and Manipulation in Underground Mines - IROS 2018, Madrid
• Thesis: Autonomous Instrumentation of old underground mines using a mobile manipulator - TUBAF 2021

Packagelist:

• tbf_gripper_autonomy (Doc)
• tbf_gripper_hand (Doc)
• tbf_gripper_launch (Doc)
• tbf_gripper_perception (Doc)
• tbf_gripper_viz (Doc)
• tbf_gripper_tools (Doc)

General information

The manipulation unit consists of three hardware parts: the UR5, the Robotiq S model gripper and a RGB-D cameraq (Asus Xtion Pro Live/Intel Realsense D435). Launch files for those devices are located in the julius_base package (not included here). The following launch file calls may be used to start them:

roslaunch julius_base ur5_modern_plain_driver.launch
roslaunch julius_base julius_base robotiq_hand.launch
roslaunch julius_base xtion_gripper.launch

As ROS provides a powerful planning and controlling interface with MoveIt!; one may also invoke:

roslaunch julius_moveit moveit.launch

Important information

Please refuse from directly controlling the robotic arm (UR5) via WiFi. It can result in unexpected behaviour. Best practice is to run both, the driver and move_group on one of the PC's mounted on Julius.