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ros_setup

Mar 22, 2022, 5 min read

ROS的配置

This is the modified version of kth-ros-pkg/yumi to build for ROS Noetic

Build

Step 1

Install all of these:

sudo apt-get install \
        python3-pip \
        protobuf-compiler \
        protobuf-c-compiler \
        ros-$ROS_DISTRO-control-toolbox \
        ros-$ROS_DISTRO-controller-interface \
        ros-$ROS_DISTRO-controller-manager \
        ros-$ROS_DISTRO-effort-controllers \
        ros-$ROS_DISTRO-force-torque-sensor-controller \
        ros-$ROS_DISTRO-gazebo-ros-control \
        ros-$ROS_DISTRO-joint-limits-interface \
        ros-$ROS_DISTRO-joint-state-publisher \
        ros-$ROS_DISTRO-joint-state-controller \
        ros-$ROS_DISTRO-joint-trajectory-controller \
        ros-$ROS_DISTRO-moveit-commander \
        ros-$ROS_DISTRO-moveit-core \
        ros-$ROS_DISTRO-moveit-planners \
        ros-$ROS_DISTRO-moveit-ros-move-group \
        ros-$ROS_DISTRO-moveit-ros-planning \
        ros-$ROS_DISTRO-moveit-ros-visualization \
        ros-$ROS_DISTRO-moveit-simple-controller-manager \
        ros-$ROS_DISTRO-position-controllers \
        ros-$ROS_DISTRO-rqt-joint-trajectory-controller \
        ros-$ROS_DISTRO-transmission-interface \
        ros-$ROS_DISTRO-velocity-controllers \
        ros-$ROS_DISTRO-hector-xacro-tools

    pip3 install --user pyftpdlib
    pip3 install --user --upgrade pyassimp

Step 2

Build the abb_driver package from source.

# change to the root of the Catkin workspace
cd $HOME/catkin_ws

# retrieve the latest development version of the abb_driver repository. If you'd rather
# use the latest released version, replace 'kinetic-devel' with 'kinetic'
git clone -b melodic-devel https://github.com/ros-industrial/abb_driver.git src/abb_driver

# check for and install missing build dependencies.

# first: update the local database
rosdep update

# now install dependencies, again using rosdep.
# Note: this may install additional packages, depending on the software already present
# on the machine.
# Be sure to change 'kinetic' to whichever ROS version you are using
rosdep install --from-paths src/ --ignore-src --rosdistro noetic

# build the workspace (using catkin_tools)
catkin build

Step 3

Build the industrial_core package from source. To use RWS interface, edit industrial_core/simple_message/include/simple_message/joint_data.h, change MAX_NUM_JOINTS to 20

# change to the root of the Catkin workspace
$ cd $HOME/catkin_ws

# retrieve the latest development version of industrial_core. If you'd rather
# use the latest released version, replace 'melodic-devel' with 'melodic'
$ git clone -b melodic-devel https://github.com/ros-industrial/industrial_core.git src/industrial_core

# check build dependencies. Note: this may install additional packages,
# depending on the software installed on the machine
$ rosdep update

# be sure to change 'melodic' to whichever ROS release you are using
$ rosdep install --from-paths src/ --ignore-src --rosdistro noetic

# build the workspace (using catkin_tools)
$ catkin build

Step 4

Finally, catkin build the workspace containing the clone of this package.

使用

  • 添加环境Source ~/devel/setup.bash

在Gazebo中进行仿真

  1. 启动Gazebo（同时也会打开rViz界面）: roslaunch yumi_launch yumi_gazebo_pos_control.launch
  2. 使用默认的运动规划，启动配置了MoveIt插件的rViz roslaunch yumi_moveit_config demo.launch

  • Use rViz with Moveit! and Gazebo (IK is switched to TracIK. You need to have it installed first.)

    roslaunch yumi_launch yumi_gazebo_moveit.launch roslaunch yumi_moveit_config demo_gazebo.launch (empty world)

Note

  • Disable Gazebo GUI: in the launch file (such as yumi_gazebo_pos_control.launch), <!--Call Gazebo --> section, change <arg name="gui" value="true" />
    • You can start the GUI by rosrun gazebo_ros gazebo manually.

固件配置

RWS

  • 为低采样率，最底层的交互手段
  • trajectory position controllers per arm: roslaunch yumi_launch yumi_traj_pos_control.launch
  • individual position controllers per joint: roslaunch yumi_launch yumi_pos_control.launch
  • 启动后的rostopic 
    /clicked_point
/gplanner/constraint_marker
/gplanner/fused_pc
/gplanner/sdf_marker
/initialpose
/joint_states
/move_base_simple/goal
/rosout
/rosout_agg
/tf
/tf_static
/yumi/egm_control_period
/yumi/gripper_l_effort_cmd
/yumi/gripper_r_effort_cmd
/yumi/gripper_states
/yumi/joint_pos_controller_1_l/command
/yumi/joint_pos_controller_1_r/command
/yumi/joint_pos_controller_2_l/command
/yumi/joint_pos_controller_2_r/command
/yumi/joint_pos_controller_3_l/command
/yumi/joint_pos_controller_3_r/command
/yumi/joint_pos_controller_4_l/command
/yumi/joint_pos_controller_4_r/command
/yumi/joint_pos_controller_5_l/command
/yumi/joint_pos_controller_5_r/command
/yumi/joint_pos_controller_6_l/command
/yumi/joint_pos_controller_6_r/command
/yumi/joint_pos_controller_7_l/command
/yumi/joint_pos_controller_7_r/command
/yumi/joint_states
  • 错误：Joint index: 10, is greater than size:10（等等index 11, 12, 13,14）
  • 解决方案：
    1. 在industrial_core/simple_message/include/simple_message/joint_data.h中MAX_NUM_JOINTS必须设置为20参考
    2. 重新编译
    3. 运行 source ./devel/setup.bash
  • 使用MoveIt!
    • 需要在yumi_moveit_config/config/controllers.yaml中将- name: yumi/joint_traj_pos_controller_l和- name: yumi/joint_traj_pos_controller_l（第3、4段）的注释取消，将其他添加注释
    • 先运行 roslaunch yumi_launch yumi_traj_pos_control.launch，然后再运行roslaunch yumi_moveit_config demo_online.launch
    • 如果关闭窗口之后不需要停止/重启FlexPendant上的任务
  • rostopics
    • /yumi/joint_traj_pos_controller_l/command
    • /yumi/joint_traj_pos_controller_l/follow_joint_trajectory/cancel
    • /yumi/joint_traj_pos_controller_l/follow_joint_trajectory/feedback
    • /yumi/joint_traj_pos_controller_l/follow_joint_trajectory/goal
    • /yumi/joint_traj_pos_controller_l/follow_joint_trajectory/result
    • /yumi/joint_traj_pos_controller_l/follow_joint_trajectory/status
    • /yumi/joint_traj_pos_controller_l/state

ABB driver

  • ABB提供的交互接口：参考实体控制?

  • 为RWS上层封装？（但是性能不如RWS?）

  • 需要在yumi_moveit_config/config/controllers.yaml中将- name: left_arm和- name: right_arm（第5、6段）的注释取消，将其他添加注释

  • 若配置为ABB driver，不需要额外配置IP地址，默认应为192.168.125.*

    • 相应的ROS命令为（position control of the joints） roslaunch yumi_support robot_interface.launch 启动后的rostopic
    /joint_states
/left_arm/feedback_states
/left_arm/joint_path_command
/left_arm/joint_states
/left_arm/joint_trajectory_action/cancel
/left_arm/joint_trajectory_action/feedback
/left_arm/joint_trajectory_action/goal
/left_arm/joint_trajectory_action/result
/left_arm/joint_trajectory_action/status
/left_arm/robot_status
/right_arm/feedback_states
/right_arm/joint_path_command
/right_arm/joint_states
/right_arm/joint_trajectory_action/cancel
/right_arm/joint_trajectory_action/feedback
/right_arm/joint_trajectory_action/goal
/right_arm/joint_trajectory_action/result
/right_arm/joint_trajectory_action/status
/right_arm/robot_status
/rosout
/rosout_agg
/yumi/gripper_l_effort_cmd
/yumi/gripper_r_effort_cmd
/yumi/gripper_states

  • 测试机械臂的控制：

    • 注：角度建议从FlexPendant的Jogging mode -> Position (radians)读取设置，不太确定rostopic echo /left_arm/joint_states输出的数据是什么情况

  • 在industrial_core/simple_message/include/simple_message/joint_data.h中MAX_NUM_JOINTS必须设置为10参考

EGM

  • 高采样率的交互手段（需要license）

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