Since this repo contains a submodule, barrett_model
, you must clone using the following command (as described in the git documentation)
git clone --recurse-submodules https://github.com/saszaz/barrett_wam_gazebo_sim
To change to the project-relevant branch for this repo:
cd barrett_model
git checkout --track origin/my_devel
The barrett_wam.launch
file will start the Gazebo simulator, load the urdf model, and start the controller interfaces. The ctrl_mode
argument can be set to position
(default), velocity
, or effort
. The robot state, including joint values and tf transforms are published on corresponding rostopics.
roslaunch barrett_wam_gazebo barrett_wam.launch ctrl_mode:=position
This will start the move_group
planning interface, and allow path planning using the MoveIt! library.
roslaunch barrett_wam_gazebo barrett_wam_moveit_planning_execution.launch debug:=true sim:=true
This includes a manual user-interface for setting start/goal positions of the robot end-effector, and generating plans from selected OMPL path planners.
roslaunch barrett_wam_moveit_config moveit_rviz.launch config:=true
Within the barrett_wam_moveit_control
package, you can generate an elliptical trajectory using the matlab file scripts/path_generator.m
and making sure to set the appropriate parameters. This will create a cart_path_ellipse_n_***.csv
under the trajectories
directory.
Currently, the .csv file to use for trajectory following can be set in src/move_group_interface.cpp
. TO-DO: read this selection (along with other parameters) from a config file to avoid re-compilation.
You can then run the waypoint-following script through the launch file:
roslaunch barrett_wam_moveit_control moveit_control.launch
The arm will attempt to move to a pre-set start configuration, and execute the trajectory.