Haptic Bimanual Teleoperation Simulation

Prerequisites

• Install uuv_simulator
• Install haptic_control
• Install teleop_core
• Install gazebo_grasp_fix

Visualizing Dual-Arm Rexrov with RViz

• Launch RViz with roslaunch rexrov_dual_oberon_description dual_display.launch
• Run redundancy resolution node: rosrun haptic_control redundancy_controller_oberon.py

Spawning and Controlling Dual-Arm Rexrov in Gazebo

• NOTE: If using haptic devices via ethernet, run the following when beginning each new terminal:
  • export ROS_IP=192.168.1.XX
  • export ROS_MASTER_URI=http://192.168.1.XX:11311/
  • XX is the IP address of the local machine (running gazebo)
• Launch gazebo using one of the following commands:
  • roslaunch uuv_gazebo_worlds empty_underwater_world.launch
  • roslaunch uuv_gazebo_worlds ocean_waves.launch
  • Or launch any other world in uuv_gazebo_worlds
• Spawn vehicle: roslaunch rexrov_dual_oberon_description upload_dual_rexrov_oberon7.launch
• Launch vehicle velocity PID + orientation stabilization controller using one of the following commands:
  • If using gamepad controller: roslaunch rexrov_dual_oberon_control joy_velocity.launch
  • If using haptic controller to generate vehicle commands: roslaunch rexrov_dual_oberon_control haptic_control.launch
• Launch manipulataor joint position PID controller: roslaunch rexrov_dual_oberon_control manipulator_joint_control.launch

Generaing Manipulator Commands

• Run joint position publisher node (converts redundancy resolution commands to manipulator_joint_control commands): rosrun rexrov_dual_oberon_control manipulator_publisher.py
• Run redundancy resolution node: rosrun haptic_control redundancy_controller_oberon.py
• (Optional) Launch manipulator visualization node using one of the following commands:
  • Just the left manipulator: roslaunch rexrov_dual_oberon_description display.launch
  • Both manipulators: roslaunch rexrov_dual_oberon_description dual_display.launch
• Run teleop node: rosrun teleop_core teleop_cmd.py
• See teleop_core for more info about using haptic devices
• gazebo_grasp_plugin allows manipulators to grasp objects by rigidly fixing them to the gripper links when opposing contact forces are detected.

TIP: Closing Gazebo using CTRL-C takes a very long time, use killall -9 gzserver gzclient