🦾 J-PARSE: Jacobian-based Projection Algorithm for Resolving Singularities Effectively in Inverse Kinematic Control of Serial Manipulators

Shivani Guptasarma, Matthew Strong, Honghao Zhen, and Monroe Kennedy III

In Submission

ROS 2 DEV!!!

The main branch is supporting ROS Noetic. The ros2_dev branch is supporting ROS 2 Jazzy.

FOR ARGALLAB (ROS 2)

Joystick or SNP Teleop

ros2 launch xarm_moveit_config xarm7_moveit_realmove.launch.py robot_ip:=<add the robot ip> add_gripper:=true

ros2 launch manipulator_control xarm_main_vel.launch use_teleop_control:=true use_teleop_control_jparse:=true

ros2 launch xarm_teleop xarm_teleop.launch.xml JOY:=true paradigm:=3

ros2 launch xarm_moveit_config xarm7_moveit_realmove.launch.py robot_ip:=<add the robot ip> add_gripper:=true

ros2 launch manipulator_control xarm_main_vel.launch use_teleop_control:=true use_teleop_control_jparse:=true

ros2 launch xarm_teleop xarm_teleop.launch.xml SNP:=true

Keyboard Teleop

Instructions to teleop robot with jparse and keyboard:

Launch the following for keyboard teleop:

ros2 launch xarm_moveit_config xarm7_moveit_realmove.launch.py robot_ip:=<add the robot ip> add_gripper:=true

ros2 launch manipulator_control xarm_main_vel.launch use_teleop_control:=true use_teleop_control_jparse:=true

ros2 run teleop_twist_keyboard teleop_twist_keyboard stamped:=True frame_id:=link_eef --ros-args --remap cmd_vel:=robot_action

Edits need to be still commpleted to test the robot after writing script for joystick and sip/puff teleop.

FOR ARGALLAB TO DOS (not in order of to do):

• Need to implement gripper in the xarm_vel_experimenter.py -- this is a function call to the api!!! the topic is /gripper_action
• self-avoidance collision -- waiting for ros 2 port
• work-around for the joint limits so that the robot does not immediately need to be power cycled -- waiting for ros 2 port
• port to ros2 (need pinnochio)

Instructions for Argallab

Below are the instructions for building the image ourself and the docker container:

cd <naviagte to your git clone of this>/Docker
docker build -t jparse .

sudo docker run -it --privileged \
-v /dev:/dev \
-v /home/demiana/workspaces/jparse_ws/src:/home/jparse_ws/src \
-e DISPLAY \
-e QT_X11_NO_MITSHM=1 \
--name argallab_jparse \
--net=host \
jparse:latest

This will start create the container as well. For future, to start the container:

sudo docker start -i argallab_jparse

If display is having issues, then in the local machine (outside docker) enter the following command:

xhost +local:docker