Now, you can download CRUMB model and simulate it in Gazebo. The ROS packages are in GitHub repository: https://github.com/CRUMBproject/ROS
Enjoy it 🙂
Category Archives: Work
Work done in the project
CRUMB moving objects around
In this video, CRUMB can pick an object and place it on a different table.
Navigation with CRUMB
In this new video, CRUMB can create a map using the navigation stack from Turtlebot 2 library and, with this map, it can move around. It is also able to avoid new obstacles along the way.
CRUMB grasping objects
Here is another first video in Gazebo. In it, CRUMB can swap two objects.
Iván Fernández has graduated in Computer Engineering!
Today, Iván Fernández has presented and defended his final thesis for the Computer Engineering degree. In the past months he has done a great work with setting up the V-REP simulator of CRUMB and its connection with Matlab, and, today, also a really nice presentation.
The evaluation committee has assessed all of that with a grade of 9.7 and a proposal for graduation with honors. Congratulations, Iván!
Reactive Navigation
WidowX Testing
CRUMB moves objects in Gazebo
Here is the first video in Gazebo. CRUMB can pick and place objects. The most important thing in Gazebo is that the object must be in the middle of the gripper, otherwise the object can not be grasped or can be glued.
New topics and services implemented in MATLAB
Here is the new list of implemented topics and services in MATLAB:
TOPICS
/arm_1_joint/command
/arm_2_joint/command
/arm_3_joint/command
/arm_4_joint/command
/arm_5_joint/command
/camera/rgb/image_color
/camera/rgb/image_color/compressed
/camera/rgb/image_mono
/camera/rgb/image_mono/compressed
/camera/depth/image_raw
/camera/depth/image_raw/compressed
/gripper_1_joint/command
/joint_states
/mobile_base/commands/velocity
/mobile_base/commands/led1
/mobile_base/commands/led2
/mobile_base/commands/motor_power
/mobile_base/commands/reset_odometry
/mobile_base/sensors/core
/mobile_base/sensors/imu_data
/mobile_base/sensors/imu_data_raw
/mobile_base/events/bumper
/mobile_base/events/button
/mobile_base/events/cliff
/mobile_base/events/wheel_drop
/mobile_base/controller_info
/mobile_base/version_info
/odom
/simulation/pose
/simulation/sim_time
/vrep/aux_console/create
/vrep/aux_console/delete
/vrep/aux_console/print
/vrep/aux_console/show
/vrep/aux_console/hide
/vrep/last_cmd_time
/vrep/pause_communication
/vrep/status_bar_message
SERVICES
/arm_1_joint/relax
/arm_1_joint/enable
/arm_1_joint/set_speed
/arm_2_joint/relax
/arm_2_joint/enable
/arm_2_joint/set_speed
/arm_3_joint/relax
/arm_3_joint/enable
/arm_3_joint/set_speed
/arm_4_joint/relax
/arm_4_joint/enable
/arm_4_joint/set_speed
/arm_5_joint/relax
/arm_5_joint/enable
/arm_5_joint/set_speed
/gripper_1_joint/relax
/gripper_1_joint/enable
/gripper_1_joint/set_speed
CRUMB robot arm: joints directions
After “homing” the WidowX, each joint is moved with positive and negative values.