Invite-Robotics

This repository contains the integration of the CSDA10F dual-arm Motoman Robot with two 2-figer adaptive Robotiq grippers and custom sensors with ROS framework. Aiming to develop robotics applications at Invite GmbH Research Center.

Contents

• Installation Instructions

• Robot URDF configuration

• Robot Moveit configuration

• Vision System Interface

• Tutorials

  • Connect to FS100 Robot Controller
  • Move Group Interface Tutorial Cpp
  • CSDA10F Robot Interface
  • Cartesian Task Planner Cpp
  • CSDA10F Pick and Place
  • Simulation Scene Objects

• Release notes

• Notes for safety operation

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For further information please see the repository Wiki.

About The Project

This is a non-profit/collaborative project between the National University of Colombia and Invite GmbH research center, that intends to allow Invite to develope more complex/cooler task without them facing alone the already challenging ROS learning curve. In order to achieve this we are trying to set-up most required robot configurations and write/migrate examples and tutorials of common task with the CSDA10F robot.

Project Facts/Datasheet

Function	Status
MoveIt! Configuration	Supported
CSDA10F support package	Supported
Configuration files for real robot operation	Supported
MoveGroupInterface tutorial with CSDA10F	Supported
TRAC-IK Integration for most move groups	Supported
Motion planning with 15 DoF	Supported
Motion execution of 15 DoF at a time	Supported
Gazebo robot simulation	Supported
Gazebo grippers simulation	In progress
Grippers control through ROS control	Supported

Main Project Contributions

1. In order to operate the Motoman Dual-Arm CSD10F robot, we modified the MotoROS driver to enable the simultaneous planning and control of the different robot joint groups (torso, left arm, right arm), which at the time was not supported. (ros-industrial/motoman#259)

2. Development of a simple cartesian task motion planner, that enables automatic planning and control of the most common sequential motions performed by the robots at INVITE (e.g. pick and place, apply tape to object, open bottle caps). This feature was developed before the MoveIt! task motion planner was published but shares most of its philosophy. (Users are encouraged to use MoveIt!'s version as it is far more flexible) (https://github.com/Danfoa/invite-robotics/blob/kinetic-devel/invite_utils/include/invite_utils/cartesian_task_planner.h)

3. The development of a high-level control interface for the Robotiq grippers, enabling the control of the hardware through ROS action servers, the introduction of the gripper fingers as joints considered in the motion planning process, and the simulation of the robot grippers for off-line development. (https://github.com/Danfoa/robotiq_2finger_grippers)

4. Documentation and tutorial generation intended to ease the learning curve of the new robotics engineers joining INVITE GmbH (https://github.com/Danfoa/invite-robotics/wiki)

5. Configuration and sharing of the CSDA10F URDF and Moveit Config files, along with the Grippers, and sensors URDF and acollision meshes