This package implements different kinds of mobile manipulator that can be used in an industrial environment.
It also demonstrate the pick and place of the mobile manipulators.

Robots:

1. Differential drive mobile manipulator
2. Differential drive mobile manipulator with rocker-boggie structure
   

Authors: Chang-Hong Chen, Sparsh Jaiswal

Ubuntu 20.04
ROS Noetic

ros-control
ros-controller

sudo apt-get install ros-noetic-ros-control ros-noetic-ros-controllers

pip3 install queue

launch the differential drive robot and the roker-boggie robot

roslaunch mim_robots warehouse_simulation.launch

run pick and place on the differential drive robot

cd scripts
python3 diffdrive_pick_place.py

roslaunch mim_robots test_ramp.launch

run test ramp to show the advantage of rocker-boogie
(Down: ordinary differential drive, Up: rocker-boggie)

cd scripts
python3 test_ramp.py

The factory simulation scene is from the following package:
https://github.com/wh200720041/warehouse_simulation_toolkit