romeo_moveit_actions

The package allows to perform simple actions with MoveIt! configured for Romeo, NAO, and Pepper robots.

It offers a set of functionalities, like:

• pick and place objects,
• reach and grasp objects,
• test a target space for reaching and grasping,

• manage objects

  • virtual objects: add, move, remove,
  • detect objects with the robot's sensors: call ORK Linemod object recognition.

Documentation

To compile the documentation, please run

• rosdoc_lite <path_to_package>

Installation

• apt-get install ros-indigo-romeo-moveit-actions
• or from source: git clone https://github.com/ros-aldebaran/romeo_moveit_actions

In case of compiling from source, install the following dependencies:

• MoveIt!

  • apt-get install ros-indigo-moveit-full
  • apt-get install ros-indigo-moveit-visual-tools

• MoveIt! Grasp Generator

  • from source, the recommended branch: git clone https://github.com/nlyubova/moveit_simple_grasps -b romeo-dev

Additionally, install a required robot description package and MoveIt! configuration, at minimum.

Get a robot description:

• for Romeo:

  • apt-get install ros-indigo-romeo-description
  • or from source https://github.com/ros-aldebaran/romeo_robot

• for Nao:

  • apt-get install ros-indigo-nao-description ros-indigo-nao-meshes
  • or from source https://github.com/ros-naoqi/nao_robot, https://github.com/ros-naoqi/nao_meshes

• for Pepper:

  • apt-get install ros-indigo-pepper-description ros-indigo-pepper-meshes
  • or from source https://github.com/ros-naoqi/pepper_robot, https://github.com/ros-naoqi/pepper_meshes

Get a robot-specific Moveit! configuration:

• for Romeo:

  • apt-get install ros-indigo-romeo-moveit-config
  • or from source https://github.com/ros-aldebaran/romeo_moveit_config

• for Nao:

  • apt-get install ros-indigo-nao-moveit-config
  • or from source https://github.com/ros-naoqi/nao_moveit_config

• for Pepper:

  • apt-get install ros-indigo-pepper-moveit-config
  • or from source https://github.com/ros-naoqi/pepper_moveit_config

For a real robot (not a simulator)

If you are working with a real robot (not a simulator) then install the dcm-related package:

• apt-get install ros-indigo-naoqi-dcm-driver

• for Romeo:

  • apt-get install ros-indigo-romeo-control ros-indigo-romeo-dcm-bringup
  • from source https://github.com/ros-aldebaran/romeo_virtual, https://github.com/ros-aldebaran/romeo_dcm_robot

• for Pepper:

  • apt-get install ros-indigo-pepper-control ros-indigo-pepper-dcm-bringup
  • from source https://github.com/ros-naoqi/pepper_virtual, https://github.com/ros-naoqi/pepper_dcm_robot

• for Nao:

  • sudo-apt-get install ros-indigo-nao-control ros-indigo-nao-dcm-bringup
  • or from source https://github.com/ros-naoqi/nao_virtual, https://github.com/ros-aldebaran/nao_dcm_robot

Compile all source packages.

How it works

For a simulator (example for Romeo robot)

Launch MoveIt!:

roslaunch romeo_moveit_config demo.launch

Wait until the robot model is loaded and launch moveit_simple_actions:

roslaunch romeo_moveit_actions actions_romeo_sim.launch

Welcome to the world of simple actions! Now, you can add virtual objects or detect real objects and reach/grasp/place them !

For a real robot (example for Romeo robot)

Launch the dcm_bringup (providing the robot's IP):

roslaunch romeo_dcm_bringup romeo_dcm_bringup_remote.launch robot_ip:=<ROBOT_IP>

Launch MoveIt!:

roslaunch romeo_moveit_config moveit_planner.launch

Wait until the robot model is loaded and launch moveit_simple_actions:

roslaunch romeo_moveit_actions actions_romeo.launch

Welcome to the world of simple actions! Now, you can add virtual objects or detect real objects and reach/grasp/place them !