THE REPOSITORY

Credits for the model to https://github.com/panagelak. His project: https://github.com/panagelak/Open_Mobile_Manipulator.

Our job

We have designed and implemented a Computer Torque Control node for the manipulator. We have designed and implemented a Pure Pursuit Control for the mobile platform.

The report of our project is in the file PROYECTO_CPR_N16.pdf but it is written in Spanish.

We have tested a several type of controllers and we have added some noise to test the robustness of our controllers.

Compiling

mkdir -p ~/catkin_ws/src && cd catkin_ws/src

git clone https://github.com/guidosassaroli/mobile_manipulator

cd ~/catkin_ws

change the name of the cloned folder from "mobile_manipulator" to "Open_Mobile_Manipulator"

rosdep install --from-paths src --ignore-src -r -y (install depedencies)

catkin_make sometimes doesn't work so build with catkin build **install it from install catkin tools

catkin build -DCMAKE_EXPORT_COMPILE_COMMANDS=1

Now theoritically it should be easy to compile the project in ROS Melodic

Launch sequence for the mobile robot controlled by the Pure Pursuit and manipulator controlled by the Computed Torque Control

roslaunch ommp_bringup complete.launch world:=jackal_race robot:=ommp_sim

roslaunch ommp_moveit_interface moveit.launch

roslaunch ommp_navigation navigation_main.launch map:=jackal_race

roslaunch ommp_viz rviz.launch config:=todo

rosrun pure_pursuit pure_pursuit

launch sequence for the maniupulator controlled by the Computed Torque Control

roslaunch ommp_lisa2_moveit_config gazebo.launch

roslaunch ommp_moveit_interface moveit.launch

roslaunch ommp_lisa2_moveit_config moveit_rviz.launch

Launch sequence for the mobile robot controlled by the Pure Pursuit

roslaunch ommp_bringup sim_bringup.launch world:=jackal_race robot:=ommp_sim

roslaunch ommp_navigation navigation_main.launch map:=jackal_race

roslaunch ommp_viz rviz.launch config:=navigation map:=jackal_race

rosrun pure_pursuit pure_pursuit

How to get data from the simulation Pure Pursuit

First load the Pure Pursuit

rostopic echo /odometry/filtered -p > odom.csv

rostopic echo /_base/TrajectoryPlannerROS/global_plan -p > trayect.csv

rostopic pub /move_base_simple/goal geometry_msgs/PoseStamped 'der: {stamp: now, frame_id: "map"}, pose: {position: {x: 2.0, y: 2.0, z: 0.0}, orientation: {w: 1.0}}}'

How to get data from the simulation Pure Pursuit

First load the Par Computado

rostopic echo /arm_controller/q1_dq1 -p > q1_dq1.csv rostopic echo /arm_controller/q2_dq2 -p > q2_dq2.csv rostopic echo /arm_controller/q3_dq3 -p > q3_dq3.csv rostopic echo /arm_controller/q4_dq4 -p > q4_dq4.csv rostopic echo /arm_controller/q5_dq5 -p > q5_dq5.csv rostopic echo /arm_controller/q6_dq6 -p > q6_dq6.csv