A Complete Panda Gazebo Workspace

Important Remarks:

• Much of the code in the contained submodules is based on the information Erdal Pekel's Blog. Thanks, Erdal!
• The state outside of the master branch must be considered as "work-in-progress". Only the master branch is stable here.
• Currently, only very simple use cases are contained here. We will gradually update the code. Watch this space!
• The examples only work when all projects in this workspace are checked out.

Docker

To quickly run the graphical example applications, you can use Docker. For development purposes, please use the regular installation instructions further below in this document. Please note that the setup for Windows and Mac OS systems uses X11 forwarding and thus offers limited graphics performance.

• Clone this repo and its submodules:
  • as a guest: git clone --recurse-submodules https://git-st.inf.tu-dresden.de/ceti/ros/panda_gazebo_workspace.git panda_gazebo_workspace
  • as a project member with a registered ssh key: git clone --recurse-submodules git@git-st.inf.tu-dresden.de:ceti/ros/panda_gazebo_workspace.git panda_gazebo_workspace
• Follow the steps for your operating system.

Linux

• Install Docker for your linux distribution
• Run ./docker-run.sh roslaunch sample_applications sample_simple_simulation.launch to build and run a docker image tagged with ceti-panda-gazebo-workspace

Windows 10

• Install Docker Desktop for Windows
• Install Xming
• Run docker-run.bat roslaunch sample_applications sample_simple_simulation.launch

Mac OS

• Install Docker Destop for Mac OS
• Install XQuartz. Enable the Allow connections from network clients setting in the preferences (Security Tab).
• Run docker-run-mac.sh roslaunch sample_applications sample_simple_simulation.launch

Requirements for development

• Ubuntu 18.4
• ROS Melodic

Installation

• There are two ways to install, using git submodules or by cloning the required ros packages individually.
  • Either clone this repo and its submodules (recommended for fresh installations):
    • as a guest: git clone --recurse-submodules https://git-st.inf.tu-dresden.de/ceti/ros/panda_gazebo_workspace.git panda_gazebo_workspace
    • as a project member with a registered ssh key: git clone --recurse-submodules git@git-st.inf.tu-dresden.de:ceti/ros/panda_gazebo_workspace.git panda_gazebo_workspace
    • change into the workspace cd panda_gazebo_workspace
  • Or clone the provided packages individually (recommended for existing ROS workspaces or if you do not understand or like submodules)
    • if you do not have a catkin workspace yet, create one mkdir -p panda_gazebo_workspace/src
    • change into a src directory of a catkin workspace, e.g. with cd panda_gazebo_workspace/src
    • clone the four provided packages into the src directory (use https if you are not registered or do not have configured an ssh key yet)
    • git clone https://git-st.inf.tu-dresden.de/ceti/ros/franka_description.git or git clone git@git-st.inf.tu-dresden.de:ceti/ros/franka_description.git
    • git clone https://git-st.inf.tu-dresden.de/ceti/ros/panda_moveit_config.git or git clone git@git-st.inf.tu-dresden.de:ceti/ros/panda_moveit_config.git
    • git clone https://git-st.inf.tu-dresden.de/ceti/ros/panda_simulation.git or git clone git@git-st.inf.tu-dresden.de:ceti/ros/panda_simulation.git
    • git clone https://git-st.inf.tu-dresden.de/ceti/ros/sample_applications.git or git clone git@git-st.inf.tu-dresden.de:ceti/ros/sample_applications.git
    • change into the workspace main directory cd ..
• install ROS package dependencies rosdep install --from-paths .
• build the workspace catkin build
• source the config: depending on your shell
  • source devel/setup.bash (default)
  • source devel/setup.sh
  • source devel/setup.zsh

Simulations

See the README.md of the submodule for more information.

• For planning and simulation based on rviz: roslaunch panda_simulation simulation.launch
• Execution of a simple motion: roslaunch sample_applications sample_simple_simulation.launch
• Execution of a simple motion costraint by a blocking object: roslaunch sample_applications sample_constraint_simulation.launch
• Execution of a velocity constraint cartesian trajectory: roslaunch sample_applications simulation.launch