TRINA-WPI-2.0

WPI HIRO Lab TRINA 2.0 ROS packages. This nursing robot comprises the Intel realsense cameras, Kinova robot arms and Fetch freight robot base.

Dependencies

This repository has been developed and tested in Ubuntu 18.04 and ROS Melodic only. Other version may work but it is not guaranteed.

• Kinova robot arms are provided by the official Kortex ROS package ros_kortex.

  • Clone this: https://github.com/Kinovarobotics/ros_kortex and install it following the instructions of the website or commands below:

    sudo apt install python3 python3-pip
    sudo python3 -m pip install conan
    conan config set general.revisions_enabled=1
    conan profile new default --detect > /dev/null
    conan profile update settings.compiler.libcxx=libstdc++11 default
    mkdir -p catkin_workspace/src
    cd catkin_workspace/src
    git clone https://github.com/Kinovarobotics/ros_kortex.git
    cd ../
    rosdep install --from-paths src --ignore-src -y
    

• realsense2_camera and its plug-in realsense_gazebo_plugin come from realsense-ros and realsense_gazebo_plugin. The necessary files are already included in this repository.

• Freight base is from fetch_ros package. The base description files are included in this repository as well.

Other packages needed:

• ros_control: ROS packages including controller interfaces, controller managers, transmissions, etc.

  • sudo apt-get install ros-melodic-ros-control ros-melodic-ros-controllers

• gazebo_ros_pkgs and gazebo_ros_control: Wrappers, tools and additional API's for using ROS with Gazebo

  • sudo apt-get install ros-melodic-gazebo-ros-pkgs ros-melodic-gazebo-ros-control

• teleop-twist-keyboard: Control differential drive mobile robot with keyboard

  • sudo apt-get install ros-melodic-teleop-twist-keyboard

• teleop_twist_joy and joystick_drivers: Joystick drivers for joystick teleoperation

  • sudo apt-get install ros-melodic-teleop-twist-joy
  • sudo apt-get install ros-melodic-joystick_drivers

• gmapping, amcl and move_base: ROS SLAM, localization and navigation package

  • sudo apt-get install ros-melodic-map-server
  • sudo apt-get install ros-melodic-gmapping
  • sudo apt-get install ros-melodic-amcl
  • sudo apt-get install ros-melodic-move-base

• If you need to use or develop graphical user interface, a visual interface for navigation is built based on Qt5.

  • sudo apt-get install ros-melodic-qt-create
  • sudo apt-get install ros-melodic-qt-build
  • sudo apt-get install qtmultimedia5-dev

  If not, you should delete trina2_navigation_gui package or clone code from the branch without GUI. Otherwise it will cause make error.

  To make change of the current interface or develop your own, you will still need to install QtCreator and configure it.

Running

• Launch the TRINA2 robot in Gazebo (Note the simulation is paused at the beginning.)

  roslaunch trina2_gazebo trina2.launch

  If you would like to launch the robot in any other worlds

  roslaunch trina2_gazebo trina2.launch world_name:=<world_file_name>

• Localize and navigate the robot by:

  roslaunch trina2_navigation trina2_amcl.launch or

  roslaunch trina2_gazebo trina2.launch world_name:=<world_file_name>

  If you would like to map the world:

  roslaunch trina2_navigation trina2_gmapping.launch

  You would need to manually save the map after mapping:

  rosrun map_server map_saver -f <map_file_name>

---

• Launch teleoperation:

  • Base controller with keyboard

    rosrun teleop_twist_keyboard teleop_twist_keyboard.py cmd_vel:=/base_controller/cmd_vel

  • Base and main camera controller with joystick (default input channel: js0)

    roslaunch trina2_control joystick_control.launch or

    roslaunch trina2_control joystick_control.launch joystick:=<your_joystick_input>

  • Main camera controller with headset (TODO)

    Publish headset output as type geometry_msgs::Twist to topic /camera_controller/pitch_yaw

  • Base controller with steering wheel (Not tested)

    roslaunch trina2_control haptic_control.launch

---

• To control the robot arms, you could use position controllers such as

  rostopic pub -1 /right_arm_joint_1_position_controller/command std_msgs/Float64 "data: 1.0"

  It is advisable to write customized nodes to control the robot arms instead of using a long command line.

  You could also use trajectory controllers and MoveIt to control the robot arms. Drivers are provided by ros_kortex. This part is commented out in trina2.launch. You would need to uncomment it and modify the controller part to use trajectory controllers instead of position controllers. (TODO) For now, only one robot arm can use MoveIt at a time.

---

• Launch navigation GUI:

  rosrun trina2_navigation_gui trina2_navigation_gui

  

Contents

The following is a brief description of the packages included in this repository.

1. hospital_gazebo

This package contains simulation world files and object models.

2. trina2_gazebo

This package contains launch file to launch the TRINA2 robot and environment in Gazebo.

3. trina2_description

This package contains urdf files of the robot, base, arms, grippers and cameras. Arms are grippers are originally provided by ros_kortex. Some of the files need change to adapt to the new robot and the modified files are saved here.

4. trina2_control

This package contains launch files for controlling the robot via keyboard, joystick, headset or haptic controllers. It also contains the controller config files.

5. trina2_navigation

This package contains launch files and relative configuration to use gmapping, amcl and move_base. The generated maps are saved here as well.

6. trina2_plugin

Necessary plugins. For now, only realsense camera plugin is saved here.

7. trina2_navigation_gui

This package contains a visual interface designed for navigation task. The interface is based on Qt5 and comprises Rviz using librviz library.