panda_tools

Hardware interface package to wrap the standard commands for panda robot. Includes standard algorithms related to kinematics such as collision avoidance and some typical demos such as pnp.

Environment_setup

For environment setup details and instructions, check docs/env_setup

Demo

STEP 1: roslaunch panda_tools launch_panda.launch STEP 1: rosrun panda_tools pnp_demo_fixed.py

Interfaces

• ArmCommader

  • target_ee_pose: Send command for the robot end effector to go to a specific geometrymsgs.Pose through publishing a message on this topic.
  • current_ee_pose: Get the current end effector pose by reading messages on this topic.

• GripperCommander

  • target_gripper_action: Send command for the robot gripeer to open/close by a specific percentage through sending a message of type GripperAction.msg to this topic.

  bool command    # True for opening gripper, False for closing it
  float32 percentage   # gripper fingers percentage
  

Package structure

docs

TODO

config

TODO

launch

TODO

scripts

TODO

src

TODO

Tests

To verify that the full package works as expected follow these steps:

1. roslaunch panda_tools launch_panda.launch Observe that there are no errors in the ros log Expected behavior: rviz and moveit planner should open up and the current (Real) robot state should be displayed.

2. ArmCommander 2.A. rosrun panda_tools arm_demo.py Expected behavior: the pose defined in the script should appear on Rviz, a trajectory should be generated waiting for your approval, and then afterwards, the robot should go. 2.B. rostopic echo current_ee_pose Expected behavior: you should accurately see the current pose of the robot's end effector. You can visualize it on Rviz to make sure.

3. GripperCommander rosrun panda_tools gripper_demo.py Expected Behavior: the gripper should open, then cSee if it'd be better to just have people import the two src scripts and make the objects themselves Pro: More flexibility (can use go_home or go_joint_state) Con: More complex to set uplose (with prints).

4. pick and place demo rosrun panda_tools pnp_demo_fixed.py Expected Behavior: The robot should open, go to a pose (confirms first), closes, go to a second pose (confirms first), then closes.

TODO

• Some kind of feedback to report when the robot is currently ready to recieve pose commands. This could be handled in the callback function itself to form a queue and store all the commands and execute them in order.
• Some kind of feedback to report when the robot is currently ready to recieve gripper commands
• Include realsense model in franka robot description