These are packages for NIST mobile manipulator projects.

version: v5.1

• tested on 03/04

• mm_rros
• realsense-ros(https://github.com/IntelRealSense/realsense-ros)
• usb_cam
• razor_imu_9dof
• robot_pose_ekf
• ur_modern_driver
• universal_robot
• robotiq
• robot_self_filter(https://github.com/rlagywjd802/robot_self_filter)
• PCLFusionColor

• changed v_max=0.2 and w_max=0.4
• delete test_pose
• add odom_test_pose
• add device

• add mm_ur5_bringup.launch to /launch

• deleted remapping odom to /pr2~/odom
• changed subscribed topic from imu_data to imu

ssh -X [email protected]

roslaunch mm_description display.launch

roslaunch mm_bringup mm_state_publisher.launch

rosrun teleop_twist_keyboard teleop_twist_keyboard.py

roslaunch mm_slam rgbd_remote_viz.launch camera:=kinect1

rosrun mm_bringup base_odom_publisher.py

roslaunch openni_launch openni.launch device_id:=#1 camera:=kinect1 depth_registration:=true roslaunch openni_launch openni.launch device_id:=#2 camera:=kinect2 depth_registration:=true

roslaunch ur_modern_driver ur5_bringup.launch robot_ip:=192.168.2.2 roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch roslaunch ur5_moveit_config moveit_rviz.launch config:=true -- robot_description from ur5_upload.launch(ur5_brinup.launch) -- robot_state_publisher from ur_common.launch(ur5_bringup.launch)

roslaunch robotiq_2f_85_gripper_visualization test_2f_85_model.launch rosrun robotiq_2f_gripper_control Robotiq2FGripperRtuNode.py /dev/ttyUSBgripper rosrun robotiq_2f_gripper_control Robotiq2FGripperSimpleController.py rosrun robotiq_2f_gripper_control Robotiq2FGripperStatusListener.py

roslaunch razor_imu_9dof razor-pub.launch roslaunch robot_pose_ekf.launch vo_used:=false

roslaunch mm_bringup mm_mobile_bringup.launch device:=/dev/ttyUSBbase roslaunch mm_bringup mm_kinect_bringup.launch camera1:=kinect1 camera2:=kinect2 rgbd:=true roslaunch mm_bringup mm_ur5_bringup.launch roslaunch mm_bringup mm_gripper_bringup.launch device:=/dev/ttyUSBgripper

roslaunch mm_bringup mm_mobile_bringup.launch device:=/dev/ttyUSBbase roslaunch mm_bringup mm_kinect_bringup.launch camera1:=true rgbd1:=true roslaunch mm_slam mm_rtabmap.launch camera:=kinect1 database_path:=<file_name> -> roslaunch mm_slam mm_rtabmap.launch camera:=kinect1 odom:=false database_path:=<file_name>

rosrun teleop_twist_keyboard teleop_twist_keyboard.py roslaunch mm_slam base_rtabmap_rviz.launch rgbd1:=true rosbag record /odom /tf /tf_static /joint_states /kinect1/depth_registered/image_raw /kinect1/depth_registered/camera_info /kinect1/rgb/image_rect_color /kinect1/rgb/camera_info /kinect_scan rqt_console

rosbag play "<file_name>.bag" roslaunch mm_slam mm_rtabmap.launch camera:=kinect1 rviz:=true rosrun map_server map_saver map:=/rtabmap/proj_map ** tf error

roslaunch mm_bringup mm_mobile_bringup.launch device:=/dev/ttyUSBbase roslaunch mm_bringup mm_kinect_bringup.launch camera1:=true rgbd1:=true roslaunch mm_slam mm_rtabmap.launch camera:=kinect1 localization:=true -- robot_description, robot_state_pusblisher and joint_state_publisher from mm_rtabmap.launch

roslaunch mm_slam base_rtabmap_rviz.launch rgbd1:=true

roslaunch mm_bringup mm_mobile_bringup.launch device:=/dev/ttyUSBbase roslaunch mm_bringup mm_kinect_bringup.launch camera1:=true camera2:=true rgbd1:=true rgbd2:=true switched:=true roslaunch mm_bringup mm_ur5_bringup.launch gui:=true roslaunch mm_bringup mm_gripper_bringup.launch device:=/dev/ttyUSBgripper roslaunch mm_slam mm_rtabmap.launch camera:=kinect1 localization:=true mm:=true database_path:=map_1111_4.db

roslaunch mm_moveit_config moveit_rviz.launch mm:=true rgbd1:=true rgbd2:=true

roslaunch mm_bringup mm_mobile_bringup.launch device:=/dev/ttyUSBbase roslaunch mm_bringup mm_kinect_bringup.launch camera1:=true rgbd1:=true roslaunch mm_slam mm_rtabmap.launch camera:=kinect1 localization:=true dwa:=false

rosrun rviz rviz -d /home/mm/catkin_ws/src/mm_rros/mm_slam/rviz/base_rtabmap_teb.rviz

########################################################

** to do

roslaunch razor_imu_9dof razor-pub.launch roslaunch mm_bringup mm_odom_pusblisher.launch roslaunch mm_bringup description_publish.launch

########################################################

rosrun ORB_SLAM2 Monopub Vocabulary/ORBvoc.txt Examples/Monocular/logitech.yaml -1 /usb_cam/image_raw rosrun ORB_SLAM2 Monosub 10 1 20 -10 20 -10 0.55 0.50 1 5

roslaunch openni_launch openni.launch depth_registration:=true rosrun ORB_SLAM2 Monopub Vocabulary/ORBvoc.txt Examples/ROS/ORB_SLAM2/kinect.yaml -1 /camera/rgb/image_raw rosrun ORB_SLAM2 Monosub 10 1 20 -10 20 -10 0.55 0.50 1 5

rosrun ORB_SLAM2 RGBD Vocabulary/ORBvoc.txt Examples/ROS/ORB_SLAM2/kinect.yaml

########################################################

rosrun ps3joy ps3joy.py roslaunch teleop_twist_joy teleop.launch

########################################################

roslaunch mm_slam mm_rtabmap.launch state_publish:=true(default) roslaunch mm_bringup mm_ur5_bringup.launch description:=false(default) --> roslaunch ur_modern_driver mm_ur5_bringup.launch description:=false(default) mm_moveit_planning_execution.launch -> move_group.launch -> planning_execution.launch

########################################################

[ WARN] [1575932977.009394537]: Could not get transform from /odom to /base_footprint after 0.200000 seconds (for stamp=1575932976.754261)! Error="Could not find a connection between 'odom' and 'base_footprint' because they are not part of the same tree.Tf has two or more unconnected trees.. canTransform returned after 0.201348 timeout was 0.2.".

--> turn on the base ########################################################

/camera/depth/color/points

########################################################

roslaunch mm_bringup mm_demo_session_bringup.launch rviz:=true rosrun mm_gui_run_demo mm_gui_moveit_approach_execution.py

roslaunch mm_bringup mm_demo_session_bringup.launch rviz:=true rosrun mm_gui_run_demo mm_gui_moveit_interpolation_execution.py debug rosrun mm_gui_run_demo waypoint_controls.py debug

roslaunch mm_bringup mm_demo_session_bringup.launch rviz:=true rosrun mm_gui_run waypoint_controls.py rosrun mm_gui_run mm_gui_moveit_approach_execution.py