IRIM 2024 Agri Challenge simulation framework

• Version 1.0.0

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Package summary

A repository for IRIM-2024 Agri Challenge. Used for build, test, and deployment for the challenge.

• Maintainer status: maintained
• Maintainers
  • Andrea Pupa
  • Clemente Lauretti

Table of Contents

• Overview
• Installation Steps
• Usage
• Issues

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Overview

• This repository provides a framework and the URDF for the simulation of the challenge
• You can find information about the challenge on the rule page.
• The supported robot for this simulation is the TIAGo Mobile Manipulator, which was developed by PAL Robotics.

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Installation Steps

It is assumed that you already have a computer with ROS installed and the required packages for the TIAGo. If not, follow the tutorial on the official ROS website (Noetic) here. Subsequently, install the tiago_tutorials package here.

After this, everything should autoinstall with the command:

rosdep install --from-paths src --ignore-src -r -y

Usage

You can run the demo using the launch file:

roslaunch agri_challenge tiago.launch

Wait a little bit and when everything is ready you can open and close the gripper by publishing on the topic:

rostopic pub /gripper_controller/command trajectory_msgs/JointTrajectory "header:
  seq: 0
  stamp:
    secs: 0
    nsecs: 0
  frame_id: ''
joint_names: ["gripper_left_finger_joint", "gripper_right_finger_joint"]
points:
- positions: [SET_THE_VALUE (0-0.05), SET_THE_VALUE (0-0.05)]
  velocities: []
  accelerations: []
  effort: []
  time_from_start: {secs: 1, nsecs: 0}" 

While the arm can be controlled publishing on the topic:

rostopic pub /arm_controller/command trajectory_msgs/JointTrajectory "header:
  seq: 0
  stamp:
    secs: 0
    nsecs: 0
  frame_id: ''
joint_names: ["arm_1_joint", "arm_2_joint", "arm_3_joint", "arm_4_joint", "arm_5_joint", "arm_6_joint", "arm_7_joint"]
points:                           
- positions: [0, 0, 0, 0, 0, 0, 0]
  velocities: []
  accelerations: []
  effort: []                            
  time_from_start: {secs: 1, nsecs: 0}"

Sensor topics:

The robot is endowed with a camera mounted inside the head, which can be exploited to track the tomatoes inside the environment. To see the data, check the topics

/xtion/...

Head control

An example of C++ node using a head action client is given in tiago_tutorials/look_to_point/src/look_to_point.cpp.

In order to run the node write the following instruction in the second console

rosrun look_to_point look_to_point

the node will subscribe to the following topics:

/xtion/rgb/camera_info

/xtion/rgb/image_raw

Issues:

If you encounter any issues, please contact us at our email address:

• [email protected]
• [email protected]