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ros_upgrade

Dec 01, 2021, 5 min read

OrebroUniversity版本的ROS版本升级（Gazebo通过，实机未通过）

从Kinetic升级至Melodic

KTH的fork

  • https://github.com/kth-ros-pkg/yumi
    • sudo apt install ros-melodic-industrial-core
    • melodic分支，yumi_hw/src/yumi_hw_ifce_node.cpp第166行 
      control_period_pub.publish(period.toSec());
      改为 
      std_msgs::Float64 period_msg;
period_msg.data = period.toSec();
control_period_pub.publish(period_msg);
    • 安装sudo apt install ros-melodic-hector-xacro-tools （Noetic可能不需要？）
    • 修改URDF文件 Github issue

      Just like ritalaezza, my solution was to add the following line in yumi.urdf.xacro, just after the <!--yumi-->comment: <xacro:property name="yumi_parent" value="world" />

    • 回到workspace目录下source ./devel/setup.bash

OrebroUniversity原始版本

  • 安装参考

    sudo apt-get install \
        python-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 

        pip install --user pyftpdlib
    pip install --user --upgrade pyassimp

    sudo apt install ros-melodic-industrial-core

  • Gazebo版本API升级对照migration guide

  • 升级代码参考GitHub

    • gazebo_mimic/src/gazebo_mimic_plugin/mimic_plugin.cpp中
      • event::Events::DisconnectWorldUpdateBegin(this->updateConnection); to this->updateConnection.reset();
      • GetAngle(0).Radian(); to Position(0)
    • yumi_hw/src/yumi_hw.cpp中 const boost::shared_ptr<const urdf::Joint> to const std::shared_ptr<const urdf::Joint>
    • 修改URDF文件yumi_description/urdf/yumi.urdf.xacro Github issue

      Just like ritalaezza, my solution was to add the following line in yumi.urdf.xacro, just after the <!--yumi-->comment: <xacro:property name="yumi_parent" value="world" />

  • 回到workspace目录下source ./devel/setup.bash

  • 安装sudo apt install ros-melodic-hector-xacro-tools

  • 在workspace目录下source ./devel/setup.bash

  • 启动Gazebo rosrun gazebo_ros gazebo

    • 启动Gazebo时的问题
      • [Err] [REST.cc:205] Error in REST request libcurl: (51) SSL: no alternative certificate subject name matches target host name 'api.ignitionfuel.org'参考 对~/.ignition/fuel/config.yaml进行修改 
        -    url: https://api.ignitionfuel.org
+    url: https://api.ignitionrobotics.org
      • 使用虚拟机参考： $ echo "export SVGA_VGPU10=0" >> ~/.profile

        Sideote: If you’d add it to ~/.bashrc starting gazebo from gui or other terminals than bash would still be broken.

在修改代码（KTH的melodic分支）的基础上移植到Noetic

  • 准备工作

    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 

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

        sudo apt install ros-$ROS_DISTRO-hector-xacro-tools
    • 编译abb_driver 
      # 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
    • 编译industrial_core 
      # 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
    • 修改启动代码（参考），如yumi_gazebo_pos_control.launch中 <param name="robot_description" command="$(find xacro)/xacro.py改为<param name="robot_description" command="$(find xacro)/xacro 否则会报错 RLException: Invalid <param> tag: Cannot load command parameter [robot_description]: no such command [['/opt/ros/noetic/share/xacro/xacro.py'
    • Gazebo启动参数
      • 同时启动Gazebo图形界面： 在<!-- Call Gazebo-->中将gui的标签改为true
      • 过时参数：
        • headless

Gazebo

  • world文件位置\usr\share\gazebo-11\worlds

Moveit

  • roslaunch yumi_moveit_config demo.launch

  • 配置 TRAC-IT

    • 安装sudo apt-get install ros-\$ROS_DISTRO-trac-ik

    • 配置

      Find the MoveIt kinematics.yaml file created for your robot. Replace kinematics_solver:kdl_kinematics_plugin/KDLKinematicsPlugin (or similar) with kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin

      • 编译catkin build, 否则会出现错误

        [ERROR] [1638920131.829167677]: The kinematics plugin (left_arm) failed to load. Error: Failed to load library /opt/ros/noetic/lib//libtrac_ik_kinematics_plugin.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library (Poco exception = libmoveit_kinematics_base.so.1.1.6: cannot open shared object file: No such file or directory) [ERROR] [1638920131.829202049]: Kinematics solver could not be instantiated for joint group left_arm.

  • 在yumi_moveit_config/launch/moveit.rviz中修改Loop Animation为false （否则plan后会一直显示plan的动画）

  • 可以将Query Goal State修改为false

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