🚀 Kinova + TurtleBot3 Pick-and-Place Demo

This project demonstrates a ROS2-based pick-and-place operation using:

• ✅ Kinova Gen3 Lite Arm for precise object manipulation.
• ✅ TurtleBot3 for autonomous navigation.
• ✅ Master Controller to manage high-level execution of movements.

🎯 System Overview

1️⃣ Master Controller (master_controller.py)

The master_controller.py is the central script that orchestrates:

• TurtleBot3 movement before and after the pick-and-place sequence.
• Kinova Gen3 Lite arm control for accurate pick-and-place operations.
• Gripper control to interact with objects.
• Environment variable management for ROS2 communication.

2️⃣ TurtleBot3 Navigation

• Moves to the pick location before the Kinova arm picks up the object.
• After placing the object, it returns to the starting position.
• Ensures smooth acceleration and respects speed limits.

3️⃣ Kinova Gen3 Lite Arm

• Moves to predefined positions using inverse kinematics.
• Picks up and places objects using the Kinova gripper.
• Uses MoveIt! for trajectory planning.

🚀 Launch Process

1️⃣ Start the Fast DDS Discovery Server

fastdds discovery --server-id 0

2️⃣ Start Kinova Gen3 Lite

Launch Kortex Bringup

export ROS_DOMAIN_ID=1 && ros2 launch kortex_bringup gen3_lite.launch.py robot_ip:=10.18.2.240 launch_rviz:=false

Launch MoveIt! for Kinova

export ROS_DOMAIN_ID=1 && ros2 launch kinova_gen3_lite_moveit_config robot.launch.py robot_ip:=10.18.2.240

3️⃣ Start TurtleBot3

SSH into the TurtleBot3

ssh [email protected]

Launch TurtleBot3 Bringup

export ROS_DOMAIN_ID=2
ros2 launch turtlebot3_bringup robot.launch.py

4️⃣ Start the Master Controller

On the main control machine, run:

python3 master_controller.py

📂 Project Structure

kinova_ws/
│── lab_quaternion/
│   ├── scripts/
│   │   ├── master_controller.py  # Main high-level controller
│   │   ├── kinova_controller.py  # Kinova arm control
│   │   ├── turtlebot_controller.py  # TurtleBot3 movement
│   │   ├── go_to_position.py  # Arm positioning
│   │   ├── control_gripper.py  # Gripper controls
│── README.md  # This documentation

🎯 Key Features

• Master Controller ensures synchronized execution.
• TurtleBot3 navigation with speed control.
• Kinova arm control for precision movement.
• MoveIt! integration for trajectory planning.
• ROS2-based communication with Fast DDS discovery.