Demo PegInHole¶

Moveit¶

Moveit will update the planning scene with the objects in the environment

roslaunch lwr_moveit_config run.launch moveit_rviz:=false

Camera¶

The camera mounted on the robot. Green and orange lights on it should be lightened up

roslaunch lwr_peg_in_hole kuka_cam.launch

AR tags¶

This node will looks for the tags in the camera images to locate the parts

roslaunch lwr_peg_in_hole find_objects_w_tags.launch

Services¶

You will need a couple of services to be able to run the demo script.

rosrun lwr_peg_in_hole update_scene_service       #update object in scene
rosrun lwr_peg_in_hole estimate_holes_service     #estimate the holes pose
rosrun lwr_peg_in_hole find_hole_pose_service     #look for the exact hole pose

Action servers¶

This action server is used to (un)screw the fastener with the screwdriver

rosrun lwr_peg_in_hole screwdriver_action_server

Start the demo¶

A script to run the demo

rosrun lwr_peg_in_hole real_demo_test0

For now this script does the following:

Wait for the different service nodes and action servers to be ready
Wait for a press to ENTER !
Move to start
Move to first look up pose
Update the pose of the object in the MoveIt planning scene
Load the position of the holes
Go above the first hole (approximatively...)
Go down a little bit
Look for the exact hole pose with the estimate
Go above the exact hole pose