Simulation (Deprecated) - jhu-dvrk/sawIntuitiveResearchKit GitHub Wiki

DEPRECATED

For simulation needs, please try the following two options:

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intuitive_research_kit_ros Documentation (deprecated)

Please refer to https://github.com/jhu-dvrk/dvrk-ros

1. About

A ROS based simulation stack has been developed to give Robot visualization and simulation.

2. Dependency

This package depends on CISST (cisstRobot) and sawROS, please check [wiki:sawROSTutorial sawROSTutorial] for build instructions.

3. Download and Build

  1. Clone the repository into a directory under ROS_PACKAGE_PATH (alternatively you can use ROS workspace). The code is under https://git.lcsr.jhu.edu/dvrk/intuitive_research_kit_ros
# to ros workspace
roscd
# clone repository
git clone [email protected]:dvrk/intuitive_research_kit_ros.git
# add to ros workspace
rosws set intuitive_research_kit_ros
# resource
source setup.sh
  1. Change to branch ''dev_groovy''
git checkout dev_groovy
  1. Build packages
# build irk_kinematics 
rosmake irk_kinematics
# build irk_teleop
rosmake irk_teleop

NOTE: You might need to setup CISST path during build process in CMake.

4. Run MTM / PSM simulation

  1. Run visualization
# One MTM
roslaunch irk_model mtm_right_rviz.launch 

# One PSM
roslaunch irk_model psm_rviz.launch 

# One MTM + One PSM
  1. Run tele-operation example
# One MTM + PSM teleoperation
roslaunch irk_teleop test_teleop.launch
  1. Screenshot

3. Packages details

  • irk_model: all CAD models, URDF (robot description) files are in the irk_model package.

  • irk_model: this package includes logic robot witch connects to joint interface and provides a Cartesian interface.

  • irk_teleop: the irk_teleop package has teleoperation control logic and a GUI as input device, it also displays MTM and PSM end effector position.

Control diagram:

6. Others

6.1. Related pages

TODO_HOW_TO_CONNECT_TO_REAL_ROBOT

6.2. TODO

  • Give two MTM / PSM example
  • Add Gazebo simulation (Physics)

6.3. Questions

Please email me if you have questions or are interested to do some simulation work. Email: [email protected]