demo.md

Demo

Run the following commands in respective terminals.

If you are using simulation, bring up Ridgeback with iiwa in Gazebo:

roslaunch ridgeback_iiwa_gazebo ridgeback_iiwa_gazebo.launch [world_name:=/path/to/my/world.world]

Navigation

Navigation without a map

In this demonstration, it takes in information from odometry, laser scanner, and a goal pose and outputs safe velocity commands for navigation.

roslaunch ridgeback_iiwa_navigation odom_navigation.launch

The command above is same as the commands below:

roslaunch ridgeback_navigation odom_navigation_demo.launch
roslaunch ridgeback_iiwa_viz view_robot.launch config:=navigation

Making a map

In this demonstration, Ridgeback generates a map using gmapping. You must slowly drive Ridgeback around to build the map.

roslaunch ridgeback_iiwa_navigation gmapping.launch

The command above is same as the commands below:

roslaunch ridgeback_navigation gmapping.launch
roslaunch ridgeback_navigation move_base.launch
roslaunch ridgeback_iiwa_viz view_robot.launch config:=gmapping

When you are satisfied, you can save the produced map using map saver:

rosrun map_server map_saver -f mymap

This will creat a mymap.yaml and mymap.pgm files in the directory where you ran the map saver.

Navigation with a map

Using amcl, Ridgeback is able to globally localize itself in a known map. AMCL takes in information from odometry, laser scanner and an existing map and estimates the robot's pose.

roslaunch ridgeback_iiwa_navigation amcl_navigation.launch [map_file:=/path/to/my/map.yaml]

With 2D Pose Estimate and 2D Nav Goal button, navigate through the goal position.

The command above is same as the commands below:

roslaunch ridgeback_navigation amcl_demo.launch [map_file:=/path/to/my/map.yaml]
roslaunch ridgeback_iiwa_viz view_robot.launch config:=localization

Manipulation

Manipulation using an interactive marker

In this demonstration, we launch move_group for planning the manipulator. Through rviz, you can manipulate the manipulator.

roslaunch ridgeback_iiwa_manipulation manipulation.launch

The command above is same as the commands below:

roslaunch ridgeback_iiwa_moveit move_group.launch
roslaunch ridgeback_iiwa_viz view_robot.launch config:=manipulation

Simple manipulation by code

In this demonstration, we launch move_group for planning the manipulator. And we call the ROS node we have written, in this case, to move up and down.

roslaunch ridgeback_iiwa_manipulation simple_manipulation.launch

The command above is same as the commands below:

roslaunch ridgeback_iiwa_moveit move_group.launch
roslaunch ridgeback_iiwa_viz view_robot.launch config:=mobile_manipulation
rosrun ridgeback_iiwa_manipulation simple_manipulation

Mobile manipulation

Interactive demo

This is a simple example to navigate and manipulate robots with interactive markers.

roslaunch ridgeback_iiwa_manipulation mobile_manipulation_interactive_demo.launch

Simple mobile manipulation by code

This is a simple example that shows the mobile manipulation by code. The whole point is to launch move_group, move_base, and rviz with correct robot state publisher and controllers.

roslaunch ridgeback_iiwa_manipulation mobile_manipulation.launch

This is same as below:

roslaunch ridgeback_navigation odom_navigation_demo.launch
roslaunch ridgeback_iiwa_moveit move_group.launch
roslaunch ridgeback_iiwa_viz view_robot.launch config:=mobile_manipulation

Then, run the nodes for programming ridgeback and iiwa.

rosrun ridgeback_examples teleop_key.py
rosrun iiwa_examples up_down_moveit