tanvirtaaha / starbot_ros

Academic project of BUET

starbot_ros

Academic project of BUET

Things that are must after moveit_setup_assistant

• install dependencies(in your ws directory): rosdep install --from-paths src --ignore-src -r -y
• comfirm installation of moveit, ros-controllers, gazebo-ros-pkgs etc
• filename tag in gazebo plugins tags(major flaw of setup assistant because it is not filled in the auto generated file)
• velocity and effort limit must not be zero
• still I don't know what happened with effort controller(maybe effort limit was not enough to overcome friction limit). robot was slowly dropping down from it's position.
• dynamic tag with friction and damping is required.

Necessary(safe to) installs

• ros-$ROS_DISTRO-ros-control
• ros-$ROS_DISTRO-ros-controllers
• ros-$ROS_DISTRO-gazebo-*
• ros-$ROS_DISTRO-moveit
• ros-$ROS_DISTRO-moveit-*
• ros-$ROS_DISTRO-rqt-*

joint_state_controller is a common controller needed to publish joint state(need for gazebo or real not sure, maybe both) but controllers for individual joints can be configured one by one or all at ones(I guess)

This error may be ignored:

No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/base_stand__base

For over all walkthorugh:

• For first time learners: Simulate a single joint(dc motor with encoder) with simple demo urdf:Youtube Github Article(Recommended)
• For 6dof robot and hardware interface Youtube Github Article
• Follow this repo import_your_custom_urdf_package_to_ROS with this youtube playlist

A good playlist for ros control: ROS Control

IKFast Plugin for Moveit

As this arm is only 4DOF moveit's kdl kinematic solver won't work. Official tutorial for creating ikfast plugin The docker way is recommended:

• You need to provide the urdf file(xacro won't work)

  rosrun xacro xacro -o /tmp/$MYROBOT_NAME.urdf $MYROBOT_NAME.urdf.xacro

• You have to select IK Type from this page for this project