turbo_manipulation

ROS package for UR5 manipulation at MuLIP Lab, Tufts.

Requirements

1. Ubuntu 18.04
2. ROS Melodic

Installation

cd <location_of_your_workspace>/src
git clone https://github.com/tufts-ai-robotics-group/turbo_manipulation.git
./turbo_manipulation/install.sh

Intel RealSense D455 Camera

• Make sure the camera is plugged into the computer vis USB
  
• Launch camera driver: roslaunch realsense2_camera rs_camera.launch filters:=pointcloud

Start microphone

• Make sure the ReSpeaker Microphone Array is plugged into the computer vis USB
  
• Check audio device name: arecord -l
  
• Install microphone driver: https://github.com/furushchev/respeaker_ros
  roslaunch respeaker_ros respeaker.launch

Manipulation (right arm)

• sudo chmod 777 /dev/ttyUSB0
• Launch drivers and MoveIt: roslaunch turbo_bringup right_arm.launch
• In the teach pendant of UR5, select Program Robot > Load Program > Open ur_driver.upr > Press play
  

MoveIt example

• rosrun turbo_manipulation real_moveit_example.py

Record Data

• roslaunch joint_recorder recordingService.launch numTopics:=3 topicName1:=/right/joint_states topicName2:=/gripper/joint_states topicName3:=/right/wrench

pick and place using GPD

roslaunch gpd_ros ur5.launch
rosrun turbo_robot_vision filter_points
rosrun turbo_manipulation gpd_pick_and_place.py