Some pkgs, depth_sensor + iiwa_stack + moveit + wsg50_ros_pkgs in gazebo and rviz which are used in my thesis.

File structure is still messy. If you have any question please contact me.

p.s. The top level launch file is in thesis repository, call thesis.launch

Folders wsg50, iiwa_stack, and depth sensor are modified from other open source packages. Need to do some investigation about licenses. If I violate the license please inform me.

• depth_sensor
  • change model from kinectv1 to kinectv2, the frame pose need to be further checked
• iiwa_stack
  • toplevel launch file in thesis repository is modified from iiwa_gazebo.launch
• wsg50_ros_pkgs
  • wsg_50_drive didn't work for me, probably I changed urdf file before.
  • I use tcp/ip connection to send command(GCL) directly to gripper. See python code thesis_moveit_config/wsg_gcl_socket.py

The enviroment setup files are in my repository bringups

catkin_ws dir: By default catkin_ws is directly under HOME directroy.
model dir: By default exchange, where 3D models are stored, is also directly under HOME directroy.

Only the path in thesis/urdf/genLf064Urdf.bash need to be manually modified with following command:
sed -i s|\/home\/ubuntu|${HOME}|g genLf064Urdf.bash

There are two environments used for this repository:

roslaunch thesis thesis.launch

Env_name: pkgs gazebo: gazebo, iiwa_stack , depth_sensor(kinect2) moveit: rviz, iiwa_stack,

• Movegroup cannot get joint_states
  1. launchfile solution: using remap flag, if your joint states topic is i.e. /iiwa/joint_states, instead /joint_states
  2. rosrun solution: rosrun pkgname exacutable joint_states:=/iiwa/joint_states

• No topic /iiwa/joint_states is not published from ROSMonintor at Sunriseside

  1. solution1: launch the iiwa_hw
  2. solution2: set ROS param /iiwa/publishJointStates to true ref: see issue

• Cannot move arm due to time asynchronization

  1. solution: run a joint_state_controller to get a dummy current one
  2. solution: update sunrise's clock might work.
  3. solution: using ntp or chrony...