# mobilemanipulation_webots

**Repository Path**: RICS-Group/mobilemanipulation_webots

## Basic Information

- **Project Name**: mobilemanipulation_webots
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 1
- **Created**: 2020-12-17
- **Last Updated**: 2023-07-14

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# Mobile Manipulation_Webots

## Description

This is a simulation of a Mobile Manipulator based on Webots.
A mobile manipulator is a mobile platform with a mounted manipulator which includes the Camera and the Lidar sensor. In the robotic simulation software Webots, the mobile manipulator allows to determine its operation in a virual environment. 

## Prerequisites

__Ubuntu 20.04 LTS__    
__ROS noetic__  
__Python 3.8__  

## Introduction

**'universal_robot'** is order to get the URDF definitions of the robots(uesed for example for RVIZ visualization and Moveit). You can learn more [here](http://wiki.ros.org/action/show/universal_robots?action=show&redirect=universal_robot)  
**'ur_e_webots'** is order to drive the UR robot. You can learn more [here](https://github.com/cyberbotics/webots/tree/master/projects/robots/universal_robots/resources/ros_package/ur_e_webots)  
**'webots_controller'** is the customized ROS package containing the simualational world and the interfacing ROS in order to enable the sensors.  
**'webots_ros'**  is the ROS package containing examples for interfacing ROS with the standard ROS controller of Webots. You can learn more [here](http://wiki.ros.org/webots_ros)  

## Installation

To use the package you need to copy it in your catkin workspace, install the dependences and compile it

```
cd /path/to/catkin_ws/src

git clone https://gitee.com/RICS-Group/mobilemanipulation_webots

cd /path/to/catkin_ws

# checking dependencies (again: replace '$ROS_DISTRO' with the ROS version you are using)
rosdep update
rosdep install --rosdistro $ROS_DISTRO --ignore-src --from-paths src

# building
catkin_make

# activate this workspace
source $HOME/catkin_ws/devel/setup.bash
```

## Usage

1. To run the Webots world file: 

```
cd /apth/to/catkin_ws/src/webots_controller/worlds
webots MM_3.wbt
```

2. To run the Camera, Lidar and the  mobile platform:

```
cd /path/to/catkin_ws/
source devel/setup.bash
rosrun webots_controller webots_ros_MM
```

3. To control the mobile manipulator:
Once you have started a simulation with a UR robot and set its controller to <extern>, you can use the following launch file to setup all the required ROS parameters and start the simulated UR robot to ROS interface:

```
# In terminal 1:
roslaunch ur_e_webots ur3e.launch

# In terminal 2:
roslaunch ur3_e_moveit_config ur3_e_moveit_planning_execution.launch

# In terminal 3:
cd /path/to/catkin_ws
source devel/setup.bash
cd src/webots_controller/scripts
python3 move_group_python2.py
```

4. To start up the RViz withe a configuration including the Moveit:

```
roslaunch ur5_moveit_config moveit_rviz.launch config:=true
```