Panda Simulation

This is a set of nodes for simulate on Gazebo the Panda arm (Franka Emika)

Table of Contents

• Getting started
  • Dependencies
  • Building from source
  • Execute
• Nodes
  • load_scene
  • gazebo_scene
• VSCode
• FAQ
• Author
• License

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Getting Started

This package was written for ROS melodic running under Ubuntu 18.04.

There is a script to install dependencies and build

git clone https://github.com/Envq/panda_simulation.git

./panda_simulation/build.sh

Dependencies

• Install ROS melodic
• Build from source libfranka:

sudo apt install build-essential cmake git libpoco-dev libeigen3-dev

mkdir -p ~/github

cd ~/github

git clone --recursive https://github.com/frankaemika/libfranka

mkdir -p libfranka/build

cd libfranka/build

cmake -DCMAKE_BUILD_TYPE=Release ..

cmake --build .

• Install catkin:

sudo apt install ros-melodic-catkin python-catkin-tools

• Prepare workspace:

echo 'export ROS_OS_OVERRIDE=ubuntu:18.04:bionic' >> ~/.bashrc

echo 'export LC_NUMERIC="en_US.UTF-8"' >> ~/.bashrc

echo 'source ~/panda_ws/devel/setup.bash' >> ~/.bashrc

source ~/.bashrc

mkdir -p ~/panda_ws/src

cd ~/panda_ws/src

git clone https://github.com/erdalpekel/panda_moveit_config.git

git clone --branch simulation https://github.com/erdalpekel/franka_ros.git

git clone https://github.com/Envq/panda_simulation.git

cd ~/panda_ws

sudo apt-get install libboost-filesystem-dev clang-format

rosdep install --from-paths src --ignore-src -y --skip-keys libfranka

catkin config -j$(nproc) --extend /opt/ros/${ROS_DISTRO} --cmake-args -DCMAKE_BUILD_TYPE=Release -DFranka_DIR:PATH=$HOME/github/libfranka/build

catkin init

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Building from source

catkin build

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Execute

For lanch simulation:

roslaunch panda_controller simulation.launch

For lanch load_scene:

roslaunch panda_controller load_scene.launch

For lanch gazebo_scene:

roslaunch panda_controller gazebo_scene.launch

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Nodes

A brief description of what the nodes do

load_scene:

This node loads in RViz a scene defined in a json file in scenes folder.

Json file must be in this form:

• "name": String
• "objects": List
  • "id": String
  • "type": ["box", "sphere", "cylinder", "cone"]
  • "color": List
    • r: float
    • g: float
    • b: float
    • a: float
  • "dimensions": List
    • x: double
    • y: double
    • z: double
    • r: double
    • h: double
  • "position": List
    • x: double
    • y: double
    • z: double
  • "orientation": List
    • w: double
    • x: double
    • z: double
    • z: double

Note:

• objects: it's the list of collision object
• id: it's the unique string that identify object
• type: it's the type of shape_msgs::SolidPrimitive
• color: it's defined in rgba format with double
• dimensions:
  • for Box the values are the carthesian coordinates x, y, z
  • for Sphere the only value is radius
  • for cylinder the values are radius and height
  • for cone the values are radius and height
• position: it's defined in carthesian coordinata and it represents the center of the solid
• orientation: it's a quaternion

gazebo_scene:

This node loads in RViz a scene defined in a json file in scenes folder and simulate in Gazebo a "pick and place" task.

Note: You need to increase the "mu" parameter of Gripper in "~/panda_ws/src/franka_ros/franka_description/robots" otherwise the object will glide from the robot hand

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VSCode

I used these extensions:

• ros by microsoft
• c/c++ by microsoft
• c/c++ snippets by harsh
• c++ intellisense by austin
• python by microsoft
• urdf by smilerobotics
• clang-format by xaver
• doxgen documentation by christoph schlosser
• cmake by twxs
• git history by don jayamanne
• gruvbox mirror by adamsome
• vscode-icons by icons for visual studio code

The following commands are available:

• build : build panda_control package
• simulation: launch simulation
• build&run: build panda_control and run the actual developing node
• load_scene: run the node that load the scene
• format: format sources with clang-format
• build_all: build all packages
• clean_all: clean all packages
• config_all: config catkin

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FAQ:

Gazebo Rest error:

You need to change in ~/.ignition/fuel/config.yaml the url: https://api.ignitionfuel.org to: https://api.ignitionrobotics.org

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Author

Enrico Sgarbanti @Envq

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License

This project is licensed under the GPL v3 License - see the LICENSE.md file for details