Robotic arm KUKA KR 210- Pick & Place project

The goal of this project was to calculate the Inverse kinematics of Robotic arm to pick the object from the shelf and place it into the trash. see my pdf for extended details.

[YouTube Video] (https://www.youtube.com/watch?v=fgDI0YrD7_E)

Project Setup

If your gazebo version is not 7. 7.0+, perform the update as follows: $ gazebo --version

$ sudo apt-get update
$ sudo apt-get install gazebo7

If you do not have an active ROS workspace, you can create one by:

$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/
$ catkin_make

Now that you have a workspace, clone or download this repo into the src directory of your workspace:

$ cd ~/catkin_ws/src
$ git clone https://github.com/udacity/RoboND-Kinematics-Project.git

Now from a terminal window:

$ cd ~/catkin_ws
$ rosdep install --from-paths src --ignore-src --rosdistro=kinetic -y
$ cd ~/catkin_ws/src/RoboND-Kinematics-Project/kuka_arm/scripts
$ sudo chmod +x target_spawn.py
$ sudo chmod +x IK_server.py            
$ sudo chmod +x safe_spawner.sh

Build the project:

$ cd ~/catkin_ws
$ catkin_make

Add following to your .bashrc file

export GAZEBO_MODEL_PATH=~/catkin_ws/src/RoboND-Kinematics-Project/kuka_arm/models

source ~/catkin_ws/devel/setup.bash

For demo mode make sure the demo flag is set to "true" in inverse_kinematics.launch file under /RoboND-Kinematics-Project/kuka_arm/launch

In addition, you can also control the spawn location of the target object in the shelf. To do this, modify the spawn_location argument in target_description.launch file under /RoboND-Kinematics-Project/kuka_arm/launch. 0-9 are valid values for spawn_location with 0 being random mode.

You can launch the project by

$ cd ~/catkin_ws/src/RoboND-Kinematics-Project/kuka_arm/scripts
$ ./safe_spawner.sh

If you are running in demo mode, this is all you need. To run your own Inverse Kinematics code change the demo flag described above to "false" and run your code (once the project has successfully loaded) by:

$ cd ~/catkin_ws/src/RoboND-Kinematics-Project/kuka_arm/scripts
$ rosrun kuka_arm IK_server.py

Once Gazebo and rviz are up and running, make sure you see following in the gazebo world:

- Robot

- Shelf

- Blue cylindrical target in one of the shelves

- Dropbox right next to the robot

If any of these items are missing, report as an issue.

Once all these items are confirmed, open rviz window, hit Next button.

To view the complete demo keep hitting Next after previous action is completed successfully.