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/bhumii-ka/new_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
  

  Usage

  For IIWA Arm

  To start the Gazebo simulation:

  roslaunch iiwa_description l.launch
  

  To control the robotic arm via keyboard:

  roscd iiwa_description && cd urdf
  rosrun iiwa_description IK_gazebo.py
  

  For IIWA Arm through moveit

  To start the Gazebo simulation:

  roslaunch moveit_iiwa demo_gazebo.launch
  

  To start the Rviz without gazebo simulation:

  roslaunch moveit_iiwa demo.launch
  

  For XARM control

  Prerequisites

  In Gazebo simulator, navigate through the model database for 'table' item, drag and place the 3D model inside the virtual environment. It will then be downloaded locally, as 'table' is needed for running the demo.

  Control

  To start the Gazebo simulation:

  roslaunch xarm_gazebo xarm7_beside_table.launch add_gripper:=true
  

  To start the Rviz simulation:

  roslaunch xarm7_gripper_moveit_config xarm7_gripper_moveit_gazebo.launch
  

  To start teleoperation node

  rosrun xarm_gazebo IK_gazebo.py
  

  Keyboard Controls

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

  Press Ctrl+C to exit.