Here are the original documentation

youbot_manipulation

This repository contains packages for using the youBot's manipulator in ROS. It includes an analytical inverse position kinematics solver and configuration files for MoveIt!.

Overview

The youbot_manipulation meta-package contains the following packages:

• youbot_arm_kinematics: A framework-independent library which implements an analytical inverse position kinematics solver for the youBot manipulator.
• youbot_arm_kinematics_moveit: A MoveIt! plugin which exposes the youbot_arm_kinematics library (see above) to MoveIt!.
• youbot_moveit: Configuration files to use the youBot with MoveIt! and the analytical inverse kinematics solver from this repository. These files have been auto-generated by the MoveIt! setup assistant.

Installation

It is assumed that ROS and the youBot packages have been installed properly. First, create a Catkin workspace (http://wiki.ros.org/catkin/Tutorials/create_a_workspace) and add the repository to this workspace by executing the following commands:

cd <catkin_workspace>/src
wstool set youbot_manipulation --git git@github.com:svenschneider/youbot-manipulation.git --version=indigo
wstool update youbot_manipulation

Now build the workspace:

cd <catkin_workspace>
catkin_make

Running the demo

The youbot_moveit package contains a demo to run and visualize a simulated youBot in RViz. This demo can be executed via the following command:

roslaunch youbot_moveit demo.launch

Using the markers attached to the manipulator, the end-effector can be dragged around which triggers the inverse kinematics solver. Additionally, different motion planners can be tried out.

Running on the real or simulated robot

First, bring up the real or simulated robot. Then, start MoveIt! via:

roslaunch youbot_moveit move_group.launch

With the MoveIt! Commander (http://moveit.ros.org/wiki/MoveIt_Commander) the manipulator can be moved by typing in commands. To start the MoveIt! Commander run:

rosrun moveit_commander moveit_commander_cmdline.py

Then select the hardware group to move and command it to some known position (e.g. the up-right, candle position):

> use arm_1
arm_1> go candle

Documentation

The MoveIt! kinematics plugin in the youbot_arm_kinematics_moveit package implements the standard MoveIt! interfaces. Therefore, consult the MoveIt! website (http://moveit.ros.org/) for further documentation related to using MoveIt!.

Here are the changes we made to customize to the single arm (no base) configuration

Note that the demo.launch file from the youbot-manipulation package spawns both the youBot arm and the base. If working only with the arm, the following files should be edited:

• youbot-manipulation/youbot_moveit/config/youbot.srdf: Delete the lines of code that deal with the links that are in the base.
• youbot-manipulation/youbot_moveit/launch/planning_context.launch: Load youbot_arm_only.urdf.xacro instead of youbot.urdf.xacro.
• youbot-manipulation/youbot_moveit/launch/moveit.rviz: Change fixed frame (line 651) and target frame (line 670) from /base_footprint to /base_link.