Robotic Arm Teleoperation in Gazebo

This repository provides simulation and teleoperation tools for controlling a robotic arm in Gazebo using keyboard input and ROS controllers.

Features

• Keyboard Control: Manual control of end-effector velocities.
• Velocity Mapping: Key-based directional velocity control.
• Inverse Kinematics: Joint velocities calculated using the Jacobian inverse.

How to use this repo

Prerequisites :

• Install Gazebo

  We will be launching our world in Gazebo so make sure to install it by using the command

  curl -sSL http://get.gazebosim.org | sh
  

• Install ROS dependencies

  sudo apt-get install ros-noetic-gazebo-ros-pkgs ros-noetic-urdf ros-noetic-xacro ros-noetic-ros-control ros-noetic-ros-controllers
  

  For motion planning

  sudo apt-get install ros-noetic-moveit
  

Note

All the installation commands are for rosdep noetic change noetic with <your_distro_name>

• Install ROS packages

  Make a workspace and create a directory 'src' where all the packages will be stored, clone this repo to get the packages and then build the catkin workspace.

  cd ~/robo_arm/src/
  git clone https://github.com/Team-Deimos-IIT-Mandi/Robotic_Arm.git
  cd ~/robo_arm && catkin build
  

  Source your workspace in .bashrc file by running the following command so that you don't have to source it in every terminal

  echo "source ~/robo_arm/devel/setup.bash" >> ~/.bashrc
  

  Control new arm

  To start the Gazebo simulation:

  roslaunch Arm_Urdf new.launch
  

  To control the robotic arm via keyboard:

  rosrun Arm_Urdf IK_gazebo.py
  

  To move arm to a point in space:

  rosrun Arm_Urdf IK_set_point_gazebo.py
  

  To move arm to a trajectory of points in space:

  rosrun Arm_Urdf IK_tracking.py
  

Visual servoing:

rosrun Arm_Urdf stereo_vis.py

rosrun Arm_Urdf vis_ser.py

Control old arm

Launch Gazebo

To start the Gazebo simulation:

roslaunch moveit_pkg final.launch

Run Teleoperation

To control the robotic arm via keyboard:

rosrun teleop_arm jaco_pt2.py

Keyboard Controls

• w - Move +X
• s - Move -X
• a - Move +Y
• d - Move -Y
• q - Move +Z
• e - Move -Z