iamrajee / ws_moveit

This ROS melodic workspace is created on Ubuntu 18.04. Here I worked on moveit & MTC projects like Pick, Place, Pouring task for multi-manipulator system using MoveIt Task Constructor(MTC).

ROS Melodic Workspace

This ROS melodic workspace is created on Ubuntu 18.04. Here I have worked on several moveit related projects like Pick, Place, Pouring task for multi-manipulator system using MoveIt Task Constructor(MTC).

Table of content

• Installation
• Package description
• Helper scripts
• Team
• Contributing
• FAQ
• Support
• License
• Acknowledgments

---

Installation

All the code required to get started

• Prerequisite

  • You should have ROS melodic on your ubuntu 18.04.
  • All ROS dependency is satisfied.

• Clone

  git clone https://github.com/iamrajee/ws_moveit.git
  

• Setup

  cd ws_moveit/
  ./refresh.sh
  make
  

---

Package description

• moveit_task_constructor

  

  ---

  Pick, Place and pouring demos

  1. Run default Pick & Place demo of MTC

  This is the default Pick & Place demo provided by the MTC.

  Run

  Terminal 1: roslaunch moveit_task_constructor_demo demo.launch
  

  Terminal 2: roslaunch moveit_task_constructor_demo pickplace.launch
  

  2. Same as above but with custom formating

  Run (Click to expand!)

  Terminal 1: roslaunch moveit_task_constructor_demo demo2.launch
  

  Terminal 2: roslaunch moveit_task_constructor_demo pickplace2.launch
  

  3. Same as above but for two object & two cylider

  Run

  Terminal 1: roslaunch moveit_task_constructor_demo demo3.launch
  

  Terminal 2: roslaunch moveit_task_constructor_demo pickplace3.launch
  

  4. Same as above but included abstract function pick place for multiple object

  TODO

  Run

  Terminal 1: roslaunch moveit_task_constructor_demo demo4.launch
  

  Terminal 2: roslaunch moveit_task_constructor_demo pickplace4.launch
  

  5. Pick & Place for two panda arm

  Also commented various ways which didn't worked

  Run

  Terminal 1: roslaunch moveit_task_constructor_demo demo5.launch
  

  Terminal 2: roslaunch moveit_task_constructor_demo pickplace5.launch
  

  6. Same as above but clearner

  Run

  Terminal 1: roslaunch moveit_task_constructor_demo demo6.launch
  

  Terminal 2: roslaunch moveit_task_constructor_demo pickplace6.launch
  

  7. Serially executing Pick & Place task using two panda arm

  Run

  Terminal 1: roslaunch moveit_task_constructor_demo demo7.launch
  

  Terminal 2: roslaunch moveit_task_constructor_demo pickplace7.launch
  

  8. Parallelly(Merger) executing simple task using two panda arm

  Run

  Terminal 1: roslaunch moveit_task_constructor_demo demo8.launch
  

  Terminal 2: roslaunch moveit_task_constructor_demo pickplace8.launch
  

  9. Simplest single panda arm pouring demo

  Run

  Terminal 1: roslaunch moveit_task_constructor_demo demo9.launch
  

  Terminal 2: roslaunch moveit_task_constructor_demo pickplace9.launch
  

  10. Same as above but keeping glass at ground level

  Run

  Terminal 1: roslaunch moveit_task_constructor_demo demo10.launch
  

  Terminal 2: roslaunch moveit_task_constructor_demo pickplace10.launch
  

  11. Same as above but keeping glass at some height from ground

  Run

  Terminal 1: roslaunch moveit_task_constructor_demo demo11.launch
  

  Terminal 2: roslaunch moveit_task_constructor_demo pickplace11.launch
  

  12. Cleaned version of two panda arm pouring.

  Run

  Terminal 1: roslaunch moveit_task_constructor_demo demo12.launch
  

  Terminal 2: roslaunch moveit_task_constructor_demo pickplace12.launch
  

  13. Pick & Place using two panda arm for differnt object

  Run

  Terminal 1: roslaunch moveit_task_constructor_demo demo13.launch
  

  Terminal 2: roslaunch moveit_task_constructor_demo pickplace13.launch
  

  14. Pick & Place using two panda arm for same object

  Run

  Terminal 1: roslaunch moveit_task_constructor_demo demo14.launch
  

  Terminal 2: roslaunch moveit_task_constructor_demo pickplace14.launch
  

  15. Pick & Place for two panda arm using seperated tasks

  TODO

  Run

  Terminal 1: roslaunch moveit_task_constructor_demo demo15.launch
  

  Terminal 2: roslaunch moveit_task_constructor_demo pickplace15.launch
  

  ---

  Cartesian Demos

  1. Run default cartesian demo of MTC

  This is the default cartesian demo provided by the MTC.

  Run

  Terminal 1: roslaunch moveit_task_constructor_demo demo_cartesian.launch/demo.launch
  

  Terminal 2: rosrun moveit_task_constructor_demo cartesian
  

  2. Same as above but with custom formating

  Run (Click to expand!)

  Terminal 1: roslaunch moveit_task_constructor_demo demo_cartesian2.launch
  

  Terminal 2: rosrun moveit_task_constructor_demo cartesian2
  

  3. Executing two task with differnt node name

  task execution not return problem -> resolved by using in built t.execute() and updating with recent PR #136

  Run

  Terminal 1: roslaunch moveit_task_constructor_demo demo3.launch
  

  Terminal 2: rosrun moveit_task_constructor_demo cartesian2
  

  Terminal 3: rosrun moveit_task_constructor_demo cartesian3
  

  or

  Terminal 1: roslaunch moveit_task_constructor_demo demo_cartesian3.launch
  

  Terminal 2: rosrun moveit_task_constructor_demo cartesian3
  

  4. Two arm panda executed simple different task

  (Cleaned) could plan but can execute -> resolved by commenting "capabilities" and "disable_capabilities" parameter in move_group.launch

  Run

  Terminal 1: roslaunch moveit_task_constructor_demo demo_cartesian4.launch
  

  Terminal 2: rosrun moveit_task_constructor_demo cartesian4
  

  5. Trying async spinner to execute two task simontaneously

  Run

  Terminal 1: roslaunch moveit_task_constructor_demo demo_cartesian5.launch
  

  Terminal 2: rosrun moveit_task_constructor_demo cartesian5
  

  ---

  Modular Demos

  1. Run default Modular demo of MTC

  This is the default Modular demo provided by the MTC.

  Run

  Terminal 1: roslaunch moveit_task_constructor_demo demo.launch
  

  Terminal 2: rosrun moveit_task_constructor_demo modular
  

  2. Same as above but with custom formating

  Run (Click to expand!)

  Terminal 1: roslaunch moveit_task_constructor_demo demo.launch
  

  Terminal 2: rosrun moveit_task_constructor_demo modular2
  

• panda

  panda pkg contain cpp and py interface for moveit.*
  
  Terminal 1:

  $ roscore
  $ TODO
  

  Terminal 2:

  $ TODO
  

• mtc_pour

  panda pkg contain cpp and py interface for moveit.*
  Terminal 1:

  $ roscore
  $ TODO
  

  Terminal 2:

  $ TODO
  

• VLP16

  
  See full video here. In this pkg TODO

---

Helper Scripts

• refresh.sh

  #!/bin/bash
  source /opt/ros/melodic/setup.bash
  source devel/setup.bash
  clear
  

  It will source the workspace after buiding workspace or after creating new pkg. Run it as ./refresh.sh

• makefile

  SHELL=/bin/bash
  all:
      make run
  run:
      catkin_make
      bash refresh.sh
  

  It will build the workspace . Run it as make

• createpkg.sh

  #!/bin/bash
  cd src/
  catkin create $1
  cd ../
  make
  source refresh.sh
  

  It will create new package . Run it as ./createpkg.sh newpkg_name

• tftree.sh

  #!/bin/bash
  rosrun rqt_tf_tree rqt_tf_tree
  

  It will launch the gui to visvualise the tf tree. Run it as ./tftree.sh

• printenv.sh

  #!/bin/bash
  printenv | grep -i ROS
  

  It will print the ROS related environment variable . Run it as ./printenv.sh

• rosdep.sh

  sudo rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y
  

  It will install dependencies of all pkg in the workspace. Run it in the workspace as ./rosdep.sh

• ssh_into_another_computer.sh

  #!/bin/bash
  ssh rajendra@rajendra
  

  It will ssh into another system. Useful when using multiple ros masters. Run it as ./rajendra.sh

---

Team

Or Contributors/supporters/mentors/guides who helped me out in these projects.

Abhinand A S	Sachin Rustagi	Swami Prasad

---

Contributing

To get started...

Step 1

• Option 1

  • 🍴 Fork this repo!

• Option 2

  • 👯 Clone this repo to your local machine using https://github.com/iamrajee/ws_moveit.git

Step 2

• HACK AWAY! 🔨🔨🔨

Step 3

• 🔃 Create a new pull request using https://github.com/iamrajee/ws_moveit/compare/.

---

FAQ

• I ran into some issue while running above package, what to do now?
  • Simply contact me!

---

Support

Reach out to me for any help!

	Name : Rajendra Singh Email : [email protected] Web : https://iamrajee.github.io/ LinkedIn : https://www.linkedin.com/in/rajendra-singh-6b0b3a13a/ Twitter: @i_am_rajee

---

License

• MIT license
• Copyright (c) 2019 Rajendra Singh.

---

Acknowledgments

• Hat tip to anyone whose code was used and thanks to everyone who inspired and supported me in this project.

ws_moveit's Issues

Invoking "make -j12 -l12" failed

After downloading the git-repo and executing the implementation, the following errors occurred

/home/don/Desktop/ws_moveit/src/moveit_task_constructor/core/include/moveit/task_constructor/storage.h:56:1: error: expected initializer before ‘}’ token
   56 | }
      | ^
/home/don/Desktop/ws_moveit/src/moveit_task_constructor/core/include/moveit/task_constructor/storage.h:60:1: error: expected initializer before ‘}’ token
   60 | }
      | ^
In file included from /home/don/Desktop/ws_moveit/src/moveit_task_constructor/core/include/moveit/task_constructor/stage.h:43,
                 from /home/don/Desktop/ws_moveit/src/moveit_task_constructor/visualization/motion_planning_tasks/properties/property_factory.cpp:40:
/home/don/ws_moveit/src/moveit/moveit_core/macros/include/moveit/macros/class_forward.h:47:3: error: expected initializer before ‘class’
   47 |   class C;                                                                                                             \
      |   ^~~~~
/home/don/Desktop/ws_moveit/src/moveit_task_constructor/core/include/moveit/task_constructor/storage.h:67:1: note: in expansion of macro ‘MOVEIT_CLASS_FORWARD’
   67 | MOVEIT_CLASS_FORWARD(Interface)
      | ^~~~~~~~~~~~~~~~~~~~
In file included from /home/don/ws_moveit/src/moveit/moveit_core/macros/include/moveit/macros/class_forward.h:39,
                 from /home/don/Desktop/ws_moveit/src/moveit_task_constructor/core/include/moveit/task_constructor/stage.h:43,
                 from /home/don/Desktop/ws_moveit/src/moveit_task_constructor/visualization/motion_planning_tasks/properties/property_factory.cpp:40:
/home/don/Desktop/ws_moveit/src/moveit_task_constructor/core/include/moveit/task_constructor/storage.h:67:22: error: ‘Interface’ was not declared in this scope
   67 | MOVEIT_CLASS_FORWARD(Interface)
      |                      ^~~~~~~~~

/home/don/Desktop/ws_moveit/src/moveit_task_constructor/demo/src/pick_place_task12.cpp:481:89:   required from here
/usr/include/c++/9/bits/unique_ptr.h:857:30: error: no matching function for call to ‘moveit::task_constructor::stages::MoveRelative::MoveRelative(const char [13], std::shared_ptr<moveit::task_constructor::solvers::CartesianPath>&)’
  857 |     { return unique_ptr<_Tp>(new _Tp(std::forward<_Args>(__args)...)); }
      |                              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

[ 39%] Linking CXX executable /home/don/Desktop/ws_moveit/devel/lib/panda/detect_and_add_cylinder
[ 40%] Linking CXX shared library /home/don/Desktop/ws_moveit/devel/lib/libmoveit_task_constructor_capabilities.so
make[4]: Leaving directory '/home/don/Desktop/ws_moveit/build'
[ 40%] Built target moveit_task_constructor_capabilities
make[4]: Leaving directory '/home/don/Desktop/ws_moveit/build'
[ 40%] Built target detect_and_add_cylinder
make[3]: Leaving directory '/home/don/Desktop/ws_moveit/build'
make[2]: *** [Makefile:141: all] Error 2
make[2]: Leaving directory '/home/don/Desktop/ws_moveit/build'
Invoking "make -j12 -l12" failed
make[1]: *** [makefile:5: run] Error 1
make[1]: Leaving directory '/home/don/Desktop/ws_moveit'
make: *** [makefile:3: all] Error 2
don@don:~/Desktop/ws_moveit$ catkin build

Demo planning fail !

I tested three demonstrations, but unfortunately, none of them worked out.

ERROR] [1616415208.504671754]: Planning failed

I don't know how to solve it. Can you give me some advice?

testing issue badge in README.md

#testing

no resource of panda_arm_hand.urdf.xacro

I downloaded this task and setup it successfully
when I try to run code "Terminal 1: roslaunch moveit_task_constructor_demo demo.launch", it saied "resource not found panda_moveit_config" in /opt/ros/melodic/share/franka/description/robots
I got a package from https://github.com/justagist/franka_panda_description, put it in /ws_moveit/src , then I "catikin_make" again.
Now demo2 demo3 demo4 can work successfully.

But when I try to run code demo5, it saied:
couldn't open file /opt/ros/melodic/share/franka_description/meshes/collision/finger.stl
Later, I moved "finger.stl" into this path,
but "Terminal 2: roslaunch moveit_task_constructor_demo pickplace5.launch" couldn't work.
“[ERROR] [1656304921.605592330]: Planning failed”