Deformable object manipulation in multi-robot environments

T.F.G. Andrés Otero García

Read the Spanish memory of this undergraduate thesis following this link:
https://deposita.unizar.es/record/64356?ln=es

Build

catkin_make
source devel/setup.bash

Launch the environment

Launch file multiple_spawner_gazebo_script.bash with the number of desired robots (recommended >2)

./multiple_spawner_gazebo_script.bash 2

Launch the MoveIt controller

Launch file moveit_planning_execution_gazebo.launch with command roslaunch and change parameter robot_name to the name of the robot to be controlled.

roslaunch multiple_abb_irb120 moveit_planning_execution_gazebo.launch robot_name:=robot1

Launch a demo

You can launch any of the following demos:

• robots_moving_demo : Asynchronous independent movement for 2 robots.
• robots_waving_demo : Synchronous movement in a sine wave for a parameter defined number of robots. REQUIRES AN EXTRA PARAMETER
• grid_demo : Manipulation with 2 robots of a grid which is close to the robots but not on the floor.
• grid_wave_demo : Manipulation with 2 robots of a grid which is on the floor next to the robots.
• small_grid_manipulation : Manipulation of a small grid with 2 robots. REQUIRES SMALL GRID VERSION

To launch these, you must use the following command:

rosrun multiple_abb_irb120 <name of the demo> <parameters>

You have to replace <name of the demo> with the name of any of the previous demos, and you can leave the <parameters> field empty except for robots_waving_demo, for which you'll need to specify the number of robots you wish to use.

Other demos

multiple_spawner_gazebo_script.bash has three possible additional parameters:

• -t : Adds a table to the simulation
• -s : Uses the small version of the grid.
• -d : Uses no robots at all and spawns a bigger version of the grid, with its corners fixed to their initial positions.