gazebo simulation

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Lucas Walter

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Aug 11, 2016, 10:16:25 AM8/11/16
to SnoCo Robotics Club

I have a crude gazebo + ros simulation running in https://github.com/lucasw/popcanbot

roslaunch popcanbot_gazebo_control popcanbot_gazebo_control.launch

All of the dimensions of the arena and the robot are approximate, it would be nice if I could point out to someone else which parameters to edit rather than fine tuning myself.

There are some pre-existing models in gazebo I've dropped into the .world, but the coke can is bizarrely oversized, and there isn't a refrigerator or even a cabinet with an operable door- I can make one of those later.

It's using Kinetic, it likely works fine in Jade.

There isn't a proper controller for the robot though position commands can be issued to individual joints- either wheel can be driven forward or back, and the arm raised and lowered and extended, but the gripper is not hooked up (it just flops around).

-Lucas




Mark Kenworthy

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Aug 11, 2016, 10:23:21 AM8/11/16
to Lucas Walter, SnoCo Robotics Club

Wow, that is so cool!  I could provide a 3D model of the actual arena, if that is helpful.  I still need to purchase the refrigerator (maybe Sunday), so I all I have now for that is a generic model.

 

Mark

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wadc...@netscape.net

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Aug 11, 2016, 12:15:02 PM8/11/16
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What dimensions do you need?

Its 12.25" from the center of one wheel to the other.  Its 12" front to back.  The motor is 3.25" in front of the back of the robot.

The entered robot will be larger.

Thanks for the great work.  I'll try to look at it today.

Bill

Mark Kenworthy

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Aug 12, 2016, 7:26:42 PM8/12/16
to Mark Kenworthy, Lucas Walter, SnoCo Robotics Club

I’ve established a Facebook group for the challenge: https://www.facebook.com/groups/PopCanChallenge/

 

Mark

 

From: snoco-r...@googlegroups.com [mailto:snoco-r...@googlegroups.com] On Behalf Of Mark Kenworthy
Sent: Thursday, August 11, 2016 7:23 AM
To: Lucas Walter <wsa...@gmail.com>; SnoCo Robotics Club <snoco-r...@googlegroups.com>
Subject: RE: gazebo simulation

 

Wow, that is so cool!  I could provide a 3D model of the actual arena, if that is helpful.  I still need to purchase the refrigerator (maybe Sunday), so I all I have now for that is a generic model.

 

Mark

 

From: snoco-r...@googlegroups.com [mailto:snoco-r...@googlegroups.com] On Behalf Of Lucas Walter
Sent: Thursday, August 11, 2016 7:16 AM
To: SnoCo Robotics Club <snoco-r...@googlegroups.com>
Subject: gazebo simulation

 

Image removed by sender.

I have a crude gazebo + ros simulation running in https://github.com/lucasw/popcanbot

 

roslaunch popcanbot_gazebo_control popcanbot_gazebo_control.launch

 

All of the dimensions of the arena and the robot are approximate, it would be nice if I could point out to someone else which parameters to edit rather than fine tuning myself.

 

There are some pre-existing models in gazebo I've dropped into the .world, but the coke can is bizarrely oversized, and there isn't a refrigerator or even a cabinet with an operable door- I can make one of those later.

 

It's using Kinetic, it likely works fine in Jade.

 

There isn't a proper controller for the robot though position commands can be issued to individual joints- either wheel can be driven forward or back, and the arm raised and lowered and extended, but the gripper is not hooked up (it just flops around).

 

-Lucas

 

 

 

 

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Lucas Walter

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Aug 13, 2016, 12:40:03 PM8/13/16
to SnoCo Robotics Club
The normal ros convention is that +x is forward, +y is to the left of the robot, and +z is up (http://www.ros.org/reps/rep-0103.html)

The important dimensions are:

-the distance between the two wheels (y axis)
-the radius of those wheels
-wheel width (not super important)
-distance on x-axis to the caster wheel to the 'axle' of the other two wheels
-I assume the caster is centered on the y axis
-caster wheel radius
-horizontal offset between vertical rotation center of caster and horizontal axis that caster wheel spins around (I can sketch this if it isn't clear)

Also the position of the camera.  It would be good to calibrate the camera, I can point out the ros commands to calibrate if the person who has the real camera can take this on.

And then for the arm the approximate width length and height of each element, the range of translation and rotation.  I don't quite understand the additional (unmotorized?) rotation joint that was designed to keep the arm within the 2' cube limitation, maybe a good drawing or video of it would help, or if it doesn't matter to the simulation then it can be left out.  Also the translation in xyz between the center of the two drive wheels to the center of the arm base.

The grippers deserve a higher quality model than most anything else.

It would be great to have individual models of the couches, tables, shoe, and chairs.  The normal units are in meters and the format loaded is collada dae, but I can convert from most other generic formats.  If meshlab can open the dae and it looks it there's a good chance it will load properly in rviz and gazebo.

The arena could just be the pdf image converted into a 3d model, but really still a properly scaled flat plane.  Or there could be low walls in it also, and a floor texture that will resemble the real arena (are they going to have carpet?).

A refrigerator model ought to be in two files, one for the door and one for the body, the urdf/xacro will make a hinge joint between them.  I was able to make a blocky refrigerator a few days ago.

And is there a lamp or something like that in the same room as the fridge?

The main value of higher quality 3d models over my cartoon rectangular shapes is to aid with computer vision development, if everything is flat and gray it may either make the vision too easy or too difficult in the sim and not at all resemble what will work in reality.

-Lucas

On Fri, Aug 12, 2016 at 4:26 PM, Mark Kenworthy <ma...@kenworthymachine.com> wrote:

I’ve established a Facebook group for the challenge: https://www.facebook.com/groups/PopCanChallenge/

 

Mark

 

From: snoco-robotics@googlegroups.com [mailto:snoco-robotics@googlegroups.com] On Behalf Of Mark Kenworthy
Sent: Thursday, August 11, 2016 7:23 AM
To: Lucas Walter <wsa...@gmail.com>; SnoCo Robotics Club <snoco-robotics@googlegroups.com>
Subject: RE: gazebo simulation

 

Wow, that is so cool!  I could provide a 3D model of the actual arena, if that is helpful.  I still need to purchase the refrigerator (maybe Sunday), so I all I have now for that is a generic model.

 

Mark

 

From: snoco-robotics@googlegroups.com [mailto:snoco-robotics@googlegroups.com] On Behalf Of Lucas Walter
Sent: Thursday, August 11, 2016 7:16 AM
To: SnoCo Robotics Club <snoco-robotics@googlegroups.com>
Subject: gazebo simulation

 

Image removed by sender.

I have a crude gazebo + ros simulation running in https://github.com/lucasw/popcanbot

 

roslaunch popcanbot_gazebo_control popcanbot_gazebo_control.launch

 

All of the dimensions of the arena and the robot are approximate, it would be nice if I could point out to someone else which parameters to edit rather than fine tuning myself.

 

There are some pre-existing models in gazebo I've dropped into the .world, but the coke can is bizarrely oversized, and there isn't a refrigerator or even a cabinet with an operable door- I can make one of those later.

 

It's using Kinetic, it likely works fine in Jade.

 

There isn't a proper controller for the robot though position commands can be issued to individual joints- either wheel can be driven forward or back, and the arm raised and lowered and extended, but the gripper is not hooked up (it just flops around).

 

-Lucas

 

 

 

 

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Lucas Walter

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Sep 6, 2016, 9:36:55 PM9/6/16
to SnoCo Robotics Club
This shows the latest with the simulation https://www.youtube.com/watch?v=9LyC6aFFdv4

The sim grippers aren't great at holding onto the can.

This command will run the simulation on jade (with kinetic leave off the world_name parameter):

roslaunch popcanbot_gazebo_control popcanbot_gazebo_control.launch world_name:=worlds/empty.world



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Bill Adcock

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Sep 6, 2016, 10:23:39 PM9/6/16
to wsa...@gmail.com, snoco-r...@googlegroups.com
Lucus the video is great!

FYI, if you want to make it more realistic - the last I hear there won't be a shelf in the fridge - the pop can will be on the bottom of the fridge.  The mini fridges that I measured at Home Depot hat the bottom of the fridge 2.5 to 3 inches off the floor.  There wasn't a door handle, they may have a finger grip on the top, and there's a indentation to the magnetic seal around the door.  the space between the fridge and its door is 1/2 to 3/4 of a inch wide and about 1/4 of a inch deep.  I have a 1/4 dowel attached to the robot arm to drag along the side of the fridge until it falls into the gap and then we pull the door open.

Bill Adcock



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