FKIE Husky Manipulation Simulation

Description

The fkie_husky_manipulation_simulation package simulates a husky robot base and a manipulator arm such as a panda arm.

Requirements

This package has been tested on Ubuntu 20.04 and ROS Noetic with Gazebo 11.

Installation

• Install dependencies:

sudo apt install ros-noetic-franka-description ros-noetic-gazebo-ros-control ros-noetic-gazebo-ros-pkgs ros-noetic-husky-control ros-noetic-husky-description ros-noetic-jsk-rviz-plugins ros-noetic-ros-control ros-noetic-twist-recovery ros-noetic-dwa-local-planner ros-noetic-teb-local-planner ros-noetic-panda-moveit-config ros-noetic-mbf-costmap-nav ros-noetic-moveit-simple-controller-manager ros-noetic-global-planner

• Clone and build required packages:

cd <your_ros_workspace>/src
git clone https://github.com/fkie/fkie_realsense_description
git clone https://github.com/fkie/realsense_gazebo_plugin
git clone https://github.com/fkie/fkie_behavior_trees
git clone https://github.com/fkie/fkie_husky_manipulation_simulation

catkin build

Try it out!

The file demo_warehouse.launch launches husky robot base with a panda arm in an warehouse environment used in the RA-L publication.

cd ros/
source devel/setup.bash
roslaunch fkie_husky_manipulation_simulation demo_warehouse.launch

Note: We highly recommend using fkie_node_manager for starting and managing the ROS nodes.

Acknowledgements

Our work uses husky robot and the panda arm packages.

Thanks to these discussions and Erdal's blog for tips on panda arm integration with Husky robot in Gazebo.

All the gazebo simulation environments that were used for simulations in the RA-L article and ICRA 2022 conference paper. The models are from osrf/gazebo_models repository.

Authors

• Francisco J. Garcia R. E-Mail
• Menaka Naazare - E-Mail

License

Copyright 2022 Fraunhofer FKIE

Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at

    http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.