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.

Requirements

• 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

Docker

To run via docker on any up-to-date linux system:

• 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
• Run ./docker-run.sh roslaunch sample_applications sample_simple_simulation.launch to build and run a docker image tagged with ceti-panda-gazebo-workspace