How do you improve ROS manipulation and planning?

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Manipulation and planning are essential skills for robots that interact with the physical world. Whether it is picking and placing objects, grasping and manipulating tools, or navigating complex environments, robots need to plan their actions and execute them with precision and adaptability. However, developing and improving these skills can be challenging, especially when using the Robot Operating System (ROS), a popular framework for robot software development. In this article, you will learn some tips and tricks to enhance your ROS manipulation and planning capabilities, using various tools and packages that are available in the ROS ecosystem.

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Gerard Kinneen

CoFounder and CXO of iSort AB | Blending Innovation in Robotics with Practical Solutions for Heavy Load Management |…
Leandro Ruiz Lozano

PhD Senior R&D Software Engineer at M.Torres Dise?os Industriales, SAU
Karthik Mothiki

Aspiring Roboticist | Mechatronics Engineer '23 | ROS Developer

1 Know your robot

The first step to improve your ROS manipulation and planning is to know your robot well. This means understanding its kinematics, dynamics, sensors, actuators, and capabilities. You can use tools like URDF (Unified Robot Description Format) and MoveIt (a ROS package for motion planning) to model and visualize your robot's structure, joints, links, and collision geometry. You can also use tools like RViz (a ROS visualization tool) and Gazebo (a ROS simulation tool) to simulate and test your robot's behavior and performance in different scenarios. Knowing your robot well will help you to choose the best methods and parameters for manipulation and planning, and to debug and troubleshoot any issues.

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Gerard Kinneen

CoFounder and CXO of iSort AB | Blending Innovation in Robotics with Practical Solutions for Heavy Load Management | Passionate about Autonomous Vehicles for Construction Sites.
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If your reading this article you just starting out in the world of ROS as this knowledge is foundational for selecting effective methods and troubleshooting. You can do this by Deeply understanding your robot's kinematics, dynamics, sensors, actuators, and capabilities is crucial. Utilize URDF for modeling and visualizing your robot's structure and MoveIt for motion planning. RViz and Gazebo are excellent for simulating and testing in various scenarios.

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2 Use high-level interfaces

The second step to improve your ROS manipulation and planning is to use high-level interfaces that abstract away the low-level details and complexities of robot control. For example, you can use the ROS Actionlib library to create and manage goal-oriented actions, such as moving the robot arm to a desired pose, or opening and closing the gripper. You can also use the ROS MoveIt package to perform motion planning, collision checking, trajectory generation, and execution for your robot manipulator. These high-level interfaces will allow you to focus on the logic and strategy of your manipulation and planning tasks, rather than the implementation and communication details.

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Leandro Ruiz Lozano

PhD Senior R&D Software Engineer at M.Torres Dise?os Industriales, SAU
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ROS MoveIt package provides some state-of-the-art motion planning algorithms, that you can query to generate your trajectories. On the other hand, those algorithms don't always work off-the-shelf and need careful testing and tunning in order to achieve reliable motion plans for your robot manipulator. You can also use RViz to preview and debug your motion planning pipeline.

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3 Leverage existing packages and resources

The third step to improve your ROS manipulation and planning is to leverage existing packages and resources that can provide you with useful functionality and information. For example, you can use the ROS Industrial package to access a collection of drivers, libraries, and applications for industrial robots and automation. You can also use the ROS Wiki and ROS Answers websites to find documentation, tutorials, examples, and answers to common questions and problems related to ROS manipulation and planning. These existing packages and resources will help you to save time and effort, and to learn from the best practices and experiences of other ROS developers and users.

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Karthik Mothiki

Aspiring Roboticist | Mechatronics Engineer '23 | ROS Developer
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Leveraging existing packages and resources is not only a smart way to improve your ROS manipulation and planning skills but also a necessary one. ROS is a complex and evolving framework that requires constant learning and updating. A fact that my mentor taught that stuck with me while working with ROS is, you can avoid reinventing the wheel and focus on the specific challenges and goals of your project by using already readily available packages and resources. Moreover, by using the existing packages and resources, you can ensure the compatibility and interoperability of your code with other ROS systems and applications.

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4 Experiment and optimize

The fourth step to improve your ROS manipulation and planning is to experiment and optimize your methods and parameters. This means trying out different algorithms, models, configurations, and settings for your manipulation and planning tasks, and evaluating their results and performance. You can use tools like RQT (a ROS graphical user interface) and ROSBag (a ROS data recording and playback tool) to monitor and analyze your robot's data and feedback. You can also use tools like ROS Tuner (a ROS package for dynamic parameter tuning) and ROS Benchmark (a ROS package for performance benchmarking) to fine-tune and compare your manipulation and planning solutions. Experimenting and optimizing your methods and parameters will help you to achieve the best possible outcomes and efficiency for your manipulation and planning tasks.

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5 Integrate and generalize

The fifth step to improve your ROS manipulation and planning is to integrate and generalize your solutions. This means combining and coordinating multiple manipulation and planning components, such as perception, localization, mapping, navigation, grasping, manipulation, and communication. You can use tools like ROS SMACH (a ROS package for state machine creation and execution) and ROS Behavior Trees (a ROS package for behavior tree creation and execution) to create and manage complex and flexible manipulation and planning behaviors. You can also use tools like ROS MoveIt Task Constructor (a ROS package for task-level motion planning) and ROS PlanSys2 (a ROS 2 package for planning systems) to create and execute high-level manipulation and planning tasks. Integrating and generalizing your solutions will help you to handle diverse and dynamic situations and scenarios, and to extend your manipulation and planning capabilities to new domains and applications.

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