Skip to content

Latest commit

 

History

History
225 lines (166 loc) · 6.78 KB

README.en.md

File metadata and controls

225 lines (166 loc) · 6.78 KB
Raw

JA | EN

Contributors Forks Stargazers Issues License

HSR_sim_common

Table of Contents
  1. Introduction
  2. Set Up
  3. 　launch-and-usage
  4. 　SoftWere
  5. milestone
  6. References

Introduction

This is the package required to run HSR (SIGVerse). The mesh and description of the robot are installed here. Object grasping and posing functions are also specified in this package.

Set Up

This section describes how to set up this repository.

(back to top)

Prerequisites

First, please set up the following environment before proceeding to the next installation stage.

System Version
Ubuntu 20.04 (Focal Fossa)
ROS Noetic Ninjemys
Python 3.8

Note

If you need to install Ubuntu or ROS, please check our SOBITS Manual.

(Back to top)

Installation

  1. Go to the src folder of ROS.

    $ roscd
# Or just use "cd ~/catkin_ws/" and change directory.
$ cd src/

  2. Clone this repository.

    $ git clone https://github.com/TeamSOBITS/hsr_sim_common

  3. Navigate into the repository.

    $ cd hsr_sim_common/

  4. Install the dependent packages.

    $ bash install.sh
    $ roscd hsr_sim_common
$ chmod 755 install.sh
$ sudo ./install.sh

  5. Compile the package.

    $ roscd
# Or just use "cd ~/catkin_ws/" and change directory.
$ catkin_make

(back to top)

Launch and Usage

  1. Set the parameters insideminimal.launchand select the functions to launch with HSR 
     roslaunch hsr_sim_common minimal.launch
 ...

(back to top)

Software

Grasp

Please refer to grasp.py located in the example folder.

Function Descriptions

  1. grasp_to_target_coord

    • A function that allows HSR to grasp an object located at the specified 3D coordinates.

  2. open_gripper

    • A function to open the gripper.

  3. close_gripper

    • A function to close the gripper.

Additional examples will be added as needed.

Changing Pose

By calling the functions in joint_controller.py (hsr_sim_common/src) of the hsr_sim_common package, you can change the HSR to the following poses.

①initial_pose

  • Purpose: Used when performing autonomous movement.
  • Description: A pose that ensures the arm does not collide during movement.
  • Function Name: move_to_initial_pose (joint_controller.py)

②detecting_pose

  • Purpose: Used when performing object recognition.
  • Description: A pose that ensures the arm does not appear within the camera frame during object recognition.
  • Function Name: move_to_detecting_pose (joint_controller.py)

③measurement_pose

  • Purpose: Used when measuring the height of an object.
  • Description: This pose allows for the measurement of object height, enabling safe object placement.
  • Function Name: move_to_measurement_pose (joint_controller.py)

(Back to top)

Milestones

  • Modify example files
  • OSS
    • Enhance documentation
    • Unify coding style

To check the current bugs and new feature requests, please refer to the Issue page.

(Back to top)