# mobile_manipulator_simulation

**Repository Path**: gradym2m/mobile_manipulator_simulation

## Basic Information

- **Project Name**: mobile_manipulator_simulation
- **Description**: 移动机械臂系统设计
- **Primary Language**: C++
- **License**: Not specified
- **Default Branch**: noetic-devel
- **Homepage**: https://gitee.com/gradym2m/mobile_manipulator_simulation/
- **GVP Project**: No

## Statistics

- **Stars**: 2
- **Forks**: 1
- **Created**: 2021-05-10
- **Last Updated**: 2025-10-23

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# mobile_manipulator_simulation

#### 介绍
移动机械臂作为一种新型协作机器人，受到越来越多学者的广泛关注，该功能包以bulldog移动平台与franka panda七自由度冗余机械臂所组成的移动机械臂系统为研究对象，重点设计和实现以下功能：
1. 基于moveit!与actionlib机制的七自由度冗余机械臂运动规划算法 —— ``` manipulator_moveit_config ```
2. 基于moveit!与Gazebo联合仿真的逆运动学求解算法，动力学验证 —— ``` manipulator_gazebo ```
3. 基于find_object,opencv,pcl的三维物体位姿解算与自主抓取 —— ``` find-object,opencv,vision_opencv ```
4. 基于贪婪边界搜索的自主探索算法 —— ``` bulldog_navigation ```
  
目前，笔者已经在自己的笔记本上(Intel: i7-10750H, NVIDIA GTX1650Ti, 16G内存)测试通过了上述所有功能包，后续该功能包将一直保持更新状态，未来也会有新的功能陆续加入，敬请期待！

#### 软件依赖
[ROS noetic](http://wiki.ros.org/noetic/Installation/Ubuntu)下所需依赖如下：
1. [find_object](https://github.com/introlab/find-object/tree/noetic-devel)
2. [kinect_v2](https://github.com/a-price/kinect_v2_description)
3. [vision_opencv](https://github.com/ros-perception/vision_opencv/tree/noetic)
4. 探索插件：[frontier_exploration](https://github.com/paulbovbel/frontier_exploration)
5. 地图融合：[m-explore](https://github.com/hasauino/m-explore)
6. [gmapping](https://github.com/ros-perception/openslam_gmapping)
7. 八叉树地图：[octomap](https://github.com/OctoMap/octomap)


#### 使用说明
1. moveit! + gazebo + marker:  

```sh
roslaunch manipulator_gazebo mobile_manipulator_gazebo.launch
roslaunch manipulator_gazebo mobile_manipulator_moveit.launch
rosrun manipulator_moveit_config markerpub_star.py
rosrun manipulator_moveit_config moveit_star.py
```

2. 移动机械臂自主探索 + 建图:  

```sh
roslaunch bulldog_gazebo bulldog_gazebo.launch
roslaunch bulldog_navigation pointcloud_to_laserscan.launch
roslaunch bulldog_navigation move_base_mapless_demo.launch
roslaunch bulldog_navigation gmapping.launch
rosrun bulldog_navigation prometheus
```

3. 深度相机自主抓取:  

```sh
roslaunch panda_gazebo panda_bringup_gazebo.launch
roslaunch panda_gazebo panda_bringup_moveit.launch
roslaunch find_object_2d find_object_3d.launch
rosrun opencv tf_listener.py
rosrun grasp_control control.py
```