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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