This is the result of our initial unit tests: first a home (including opening/closing the gripper), then check the direction of movement of every joint, and finally, relaxing every joint.
List of implemented topics in MATLAB©:
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">
And we have to add the Turtlebot library and the Turtlebot:
<xacro:include filename="$(find turtlebot_description)/urdf/turtlebot_library.urdf.xacro"/>
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 🙂
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:
roslaunch turtlebot_gazebo turtlebot_world.launch
And, to move the Turtlebot model, open a new terminal and write:
roslaunch turtlebot_teleop keyboard_teleop.launch
– 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.
Dr. Ana Cruz-Martín has recorded a video on how to identify the motion characteristics of our robot: