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update ROS examples: add Kuka and Panda

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Brian Delhaisse
2019-10-18 06:46:25 +02:00
parent 68629ad9c2
commit f982d110dc
15 changed files with 404 additions and 37 deletions
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examples/middlewares/README.md
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## Middleware examples
In this folder, you will have simple examples on how to use the ROS middleware with PyRoboLearn. Once this middleware
is instantiated, it is passed to the simulator that uses it to publish or subscribe to topics/services to get the
various joint states, sensor values, etc. The ROS middleware can then later be used to launch ROS nodes and other
ROS features. The ROS middleware can also be useful to get the data from a real robotic platform or to send some
joint trajectories to it.
Here are the few examples that you can find in this folder:
1. `bullet_ros_control_gazebo.py`: After running the corresponding roslaunch file (see file documentation), you will
be able to teleoperate the manipulator (rrbot, kuka, or franka emika panda) in Gazebo by moving the same robot in
PyBullet. The robots that are instantiated in Gazebo use position control (by using `ros_control`). A simple video
demonstrating the results can be found here: https://www.youtube.com/watch?v=OPh-NCfKKK8
2. `bullet_ros_rqt.py`: this will launch RQT along PRL.
3. `bullet_ros_publisher.py`: example where we use ROS to publish the joint position values that were returned by
the Bullet simulator on the corresponding ROS topic.
4. `bullet_ros_subscriber.py`: example where we use ROS to get the joint values from the ROS topics and change them
in the simulator. This works with the `bullet_ros_publisher.py` code presented above. By moving the robot with your
mouse in the publisher version, you will see the robot in this subscriber version moving accordingly. This can be
useful if you have access to the real platform as well.
examples/middlewares/bullet_ros_control_gazebo.py
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And move the `rrbot` robot using your mouse by left-clicking on a part of the robot and moving it.
Here is a video of what it should give: https://www.youtube.com/watch?v=NOybmaRHaBM
Here is a video of what it should give: https://www.youtube.com/watch?v=OPh-NCfKKK8
If you want to use 'kuka_iiwa' and 'franka', you will have to follow the same steps as above but this time by cloning:
- https://github.com/IFL-CAMP/iiwa_stack
- https://github.com/mkrizmancic/franka_gazebo
Then run the corresponding roslaunch files (*_gazebo.launch) that are located in the corresponding
`pyrobolearn/robots/urdfs/<robot_name>/` folder using the `roslaunch <robot>_gazebo.launch` command.
"""
import pyrobolearn as prl
@@ -32,7 +39,7 @@ sim = prl.simulators.Bullet(middleware=ros)
world = prl.worlds.BasicWorld(sim)
# load robot
robot = world.load_robot('rrbot')
robot = world.load_robot('rrbot') # 'kuka_iiwa', 'franka'
# run simulation
for t in prl.count():