[Documentation] [TitleIndex] [WordIndex

Note: This tutorial assumes that you have completed the previous tutorials: srs_assisted_arm_navigation, srs_arm_navigation_tests.
(!) Please ask about problems and questions regarding this tutorial on answers.ros.org. Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags.

How to use assisted arm navigation

Description: This tutorial shows how to use assisted arm navigation solution which was developed for SRS project and Care-O-Bot.

Keywords: arm, navigation, assisted, semi-autonomous, srs, cob, manipulation

Tutorial Level: BEGINNER

Introduction

This tutorial shows how to use assisted arm navigation. The idea is that there is semi-autonomous robot and if decision making is not able to automatically reach some position of arm it will ask human operator for help.

How to prepare environment for test

Use this command

roslaunch srs_arm_navigation_tests fake_dm_test.launch

to start simulation of COB, properly configured RVIZ, fake detection of objects, knowledge database, object database, BUT environment model and all needed stuff for simulated decision making.

Then put milkbox into the environment:

roslaunch srs_arm_navigation_tests milk_box.launch

Navigate robot to the starting position (interactive marker can be used for this task).

How to run fake decision making

Use this command

roslaunch srs_arm_navigation_tests fake_dm_only.launch

to start fake decision making. It's based on Smach and two generic states (move_arm_to_given_positions_assisted, move_arm_from_a_given_position_assisted). Both states will be triggered.

Operator workflow and usage of RVIZ plugin

GUI for human operator consists of RVIZ, arm navigation plugin and interactive markers.

After the start of RVIZ operator should see robot with interactive teleop and pointcloud.

1-start.png

Default state of RVIZ plugin buttons looks like this:

2-start-default-state-of-buttons.png

There are several active buttons:

Moving the robot

After successful detection of object (by default it's milkbox) user will be asked for action

3-operator-asked-for-action.png

Now the operator should decide if the object is in reach of arm or not. If not he or she should move robot to a proper position.

4-move-robot-close-enough.png

When moving robot, pay attention to have fixed frame set to /map (otherwise there is issue with IMs). If the robot is in proper position change fixed frame to base_link.

10-change-fixed-frame.png

Operator should be able to see IM for detected object. There is bounding box and mesh obtained from object database. Around IM there are pregrasp positions for current object each represented by yellow ball, green arrow and it's ID.

If the robot was moved around too much it may happen that there is discrepancy between stored position of detected object and its real position. This is caused by inaccuracies in transformations, localisation of robot and object detection.

5-error-in-position-of-object.png

In such case it's necessary to ask DM (or fake DM) for a new detection - this can be done with Repeat button (it will be enabled after press of New).

9-after-repeat.png

Planning

Operator may start assisted arm trajectory planning by pressing New button.

Before pressing New the operator should decide if ACO (see above) will be enabled or disabled. After New a change will not be possible. Button become active again after press of Reset.

After press of New some another button become enabled:

6-waiting-for-user-action.png 7-after-new.png

IM of detected object has it's menu. Check Move arm to pre-grasp position on click. Then it is possible to just click on selected pregrasp position and IM of arm will move there.

8-im-menu.png

If the goal position is in collision it's indicated by red colour of arm IM. Otherwise it is possible to start planning with Plan and then execute planned trajectory on robot with Execute.

If the trajectory was successfully planned it will be played.

13-playing-traj.png

After execution of trajectory Success button becomes enabled.

Trajectory can be also divided into more parts. For example it's possible to move almost to pregrasp position with ACO enabled (for higher safety), then disable ACO and plan new short trajectory to exact position for pregrasp.

14-gripper-opened.png 17-final-position.png

Summary

Brief instructions for moving arm to pregrasp position in two steps (using two trajectories):


2019-10-12 13:09