Motion-Planning-on-Baxter

Implemented pick and place motion palanning on Baxter robot while avoiding two obstacles.

Red block is picked from table1 and placed at table2. White block is picked from table2 and placed at table1.

Dependencies

1. Baxter simulator
2. python 3.6
3. ros kinetic
4. rospy
5. rospkg
6. baxter_interface
7. ubuntu 16.04
8. Moveit
9. Gazebo

Instructions for Dependencoes Installations

1. Install baxter simulator

Prerequisites

$ sudo apt-get install gazebo7 ros-kinetic-qt-build ros-kinetic-gazebo-ros-control ros-kinetic-gazebo-ros-pkgs ros-kinetic-ros-control ros-kinetic-control-toolbox ros-kinetic-realtime-tools ros-kinetic-ros-controllers ros-kinetic-xacro python-wstool ros-kinetic-tf-conversions ros-kinetic-kdl-parser

Install baxter_simulator
$ cd ~/ros_ws/src
$ wstool init .
$ wstool merge https://raw.githubusercontent.com/RethinkRobotics/baxter_simulator/kinetic-devel/baxter_simulator.rosinstall
$ wstool update

Build source
$ source /opt/ros/kinetic/setup.bash
$ cd ~/ros_ws
$ catkin_make

Edit baxter.sh
ros_kinetic

2. Install Moveit

sudo apt-get install ros-kinetic-moveit

Moveit Rviz other packages insatll

cd ~/workspace/src
git clone https://github.com/ros-planning/moveit_robots.git
cd ..
catkin_make

To Run the code

1. Extract Proj4_MoumitaPaul_python folder on desktop

2. Go to Codes folder
$ cd Desktop/moumita_proj_4_MoumitaPaul

3. cd ~/ros_ws

4. source devel/setup.bash

5. roslaunch baxter_gazebo baxter_world.launch

6. rosrun baxter_tools enable_robot.py -e

7. rosrun baxter_interface joint_trajectory_action_server.py

8. roslaunch baxter_moveit_config demo_baxter.launch right_electric_gripper:=true left_electric_gripper:=true

9. rostopic echo /robot/limb/left/endpoint_state 

10. rosrun baxter_examples ik_service_client.py -l left

11. rosrun baxter_sim_examples ik_pick_and_place_with_obstacle_avoidance.py

Output

1. To visualize the whole process play Baxter-simulation_whole_process.mp4
2. Baxter simulaton for different trajectory (points collected from Rviz) play Baxter_simulation2.mkv