Motoman SIA10F Simulation with MoveIt!

Project Description

This project simulates the Motoman SIA10F robotic arm using the MoveIt! package in ROS1. It provides a step-by-step approach to creating URDF files, configuring MoveIt packages, and performing motion planning with Python. This resource aims to help developers understand and implement robotic arm functionalities in a Gazebo simulation.

Key Features

• URDF model of the Motoman SIA10F robot arm.
• MoveIt! integration for motion planning and execution.
• RViz visualization with configurable settings.
• Python scripts for planning and controlling the arm: Added scripts for commanding the robotic arm directly via Python.

Installation Instructions

Prerequisites

• ROS Noetic: Ensure it’s installed and configured with a Catkin workspace.

Setup

1. Clone the repository into your Catkin workspace:

   cd ~/ros_ws/src
   git clone https://github.com/smtbhd32/sia10f-urdf-moveit-motion-planning.git

2. Install Dependencies: Use rosdep to install all dependencies listed in the package.xml:

   cd ~/ros_ws
   rosdep install --from-paths src --ignore-src -r -y

3. Build the Workspace:

   catkin_make

4. Source the Workspace:

   source devel/setup.bash

Usage

• Run the main simulation launch file:

  roslaunch sia10f_gazebo main.launch

Running MoveIt for Motion Planning

• To control the robot arm with MoveIt and RViz:

  roslaunch my_robot_moveit_config my_robot_planning_execution.launch

Running Python Control Scripts

The scripts folder contains Python scripts for commanding the robot arm through MoveIt.

1. Navigate to the scripts folder:

   cd ~/ros_ws/src/sia10f_robot/my_robot_moveit_config/scripts

2. Run the example script:

   rosrun my_robot_moveit_config moveit_joint_control_example.py

   This script sets joint values for the "manipulator" group and executes the plan.

Folder Structure

• sia10f_control: Control configurations and launch files.
• sia10f_description: URDF and Xacro files defining the robot’s model.
• sia10f_gazebo: Gazebo simulation files.
• my_robot_moveit_config: MoveIt! configurations for the SIA10F robot.
• scripts: Contains Python scripts for planning and executing commands via MoveIt.

Acknowledgements

This project builds upon tutorials by The Construct and resources from other contributors.

---