Turtlebot moves a Rubik’s cube in V-REP

Posted on 03/17/2016 by jafma

List of implemented topics in MATLAB©:

/arm_1_joint/command
/arm_2_joint/command
/arm_3_joint/command
/arm_4_joint/command
/arm_5_joint/command
/camera/depth/image
/camera/depth/image/compressed
/camera/rgb/omage_color
/camera/rgb/image_color/compressed
/camera/rgb/image_mono
/camera/rgb/image_mono/compressed
/gripper_1_joint/command
/mobile_base/commands/led1
/mobile_base/commands/led2
/mobile_base/commands/motor_power
/mobile_base/commands/reset_odometry
/mobile_base/commands/velocity
/mobile_base/controller_info
/mobile_base/sensors/core
/odom

turtle_RubikCube_17032016

CRUMB in RViz

Posted on 03/15/2016 by jafma

We have completed the robot model in ROS. To incorporate the Widow-X arm on the Turtlebot platform, we have to include these lines in the xacro file:

<joint name="fixed" type="fixed"> <parent link="plate_top_link"/> <child link="${prefix}arm_base_link"/> </joint>

And we have to add the Turtlebot library and the Turtlebot:

<xacro:include filename="$(find turtlebot_description)/urdf/turtlebot_library.urdf.xacro"/>
<kobuki/> <stack_hexagons parent="base_link"/> <sensor_kinect parent="base_link"/>

The figure shows CRUMB in Rviz and, similarly to Widow-X, we can use joint_state_publisher node to test the model.

The packages to simulate Widow-x and CRUMB will be uploaded soon 🙂

How to simulate Turtlebot in Ros/Gazebo?

Posted on 03/10/2016 by jafma

To simulate Turtlebot platform in Ros Indigo/Gazebo, we have to install turtlebot packages:

sudo apt-get install ros-indigo-turtlebot ros-indigo-turtlebot-apps ros-indigo-turtlebot-interactions ros-indigo-turtlebot-simulator ros-indigo-kobuki-ftdi ros-indigo-rocon-remocon ros-indigo-rocon-qt-library ros-indigo-ar-track-alvar-msgs

When the installation finishes, write in the terminal:
source /opt/ros/indigo/setup.bash
roslaunch turtlebot_gazebo turtlebot_world.launch

And, to move the Turtlebot model, open a new terminal and write:
source /opt/ros/indigo/setup.bash
roslaunch turtlebot_teleop keyboard_teleop.launch

A tutorial on setting up the robot

Posted on 01/25/2016 by jafma

Dr. Ana Cruz-Martín has written a tutorial on how to set up the TurtleBot + Widow X mobile manipulator.

Ángel Martínez begins to collaborate with CRUMB

Posted on 01/01/2016 by jafma

Ángel Martínez-Tenor, one of the PhD students of the MAPIR group, who is working on reinforcement learning applied to robotics, has joined the CRUMB team for testing some of his theoretical results on the robot and its simulator.

Welcome aboard, Ángel!

Merry Christmas and Happy New Year!

Posted on 12/19/2015 by jafma

CRUMB and the CRUMB team wish all humanity MC & HNY!

Widow-X arm in Rviz

Posted on 12/03/2015 by jafma

As we have said in the previous post, RViz is a tool to visualize robots. It is very useful because it allows us to check robot joints by using joint_state_publisher node.

First steps with ROS

Posted on 12/01/2015 by jafma

In this first post we have simulated Widow-X arm in ROS/Indigo. There are several simulators available in ROS, for instance:

– MoveIt!, which is a motion planning.

– Stage, very useful to 2D navigation.

– Gazebo, tool to test algorithms and design robots.

– Rviz, tool to visualize the robots.

For this project Gazebo has been selected with its recommended version for Indigo, Gazebo 2.X. If you are not using Indigo, take a look to this web to know which Gazebo version you need.

The model and its home position are shown in the following figures.