This branch is the primary branch

UT Servoing: Controlling a robot through NDT Data

This repository takes in ut data and interprets it to find the front wall and adjust to it.

Functionality

Currently the c_axis_corr script interprets the frontwall angle and publishes the pose to the topic /c_corr/pose.

The y_axis_sampler script (use the highest number for latest version) subscribes to /c_corr_pose, moves along the y_axis of the part while collecting c_corr_poses. Then backtracks through those poses.

Running the scripts

To run, see the prerequisites below then run the following code in a sourced terminal. Note that you have to activate the robot within 5 seconds of running this command. The robot's program is ros_rsi_ut or something of the sort.

roslaunch ut_serviong init.launch

Confirm that the orange robot matches the white robot in the initial position.

In a second sourced terminal, activate the peak LTPA data. Note that if the error says 'service not available', wait ten seconds and try again. If not try cycling the power on the LTPA and

rosservice call /peak/stream_data "stream_data: true"

In a third sourced terminal, run the y_axis_sampler code.

rosrun ut_servoing y_axis_sampler4.py _simulation_mode:=True

Once you are happy with the simulated motion, you can turn the _simulation_mode variable to False.

Miscellaneous Notes

• The speed of the robot is controlled in the system_moveit's joint_limits.yaml file and nowhere else.
• The /c_corr_pose topic and /robot/cartesian_pose topics are published by separate scripts run in the launch file
• The /joint_states topic does not update because it is Cartesian motion. Use /position_trajectory_controller/state instead

Prerequisites

This ros package requires several other packages to be present in the same workspace, namely in (order)

• (3) system_moveit: This is generated using moveit setup assistant for any urdf. To use the urdf for Rebecca Moos's configuration, see https://github.com/bmoos15/system_moveit.git

  roslaunch moveit_setup_assistant setup_assistant.launch
  

  -or-

  git clone git@github.com:bmoos15/system_moveit.git
  

  • (2) system urdf: https://github.com/bmoos15/system_urdf.git. NOTE: This depends on two other urdfs, added below.

    git clone git@github.com:bmoos15/system_urdf.git
    

    • (1a) kr10_r1100_2_urdf: https://github.com/SaeedRT93/kr10_r1100_2_urdf.git

      git clone git@github.com:SaeedRT93/kr10_r1100_2_urdf.git
      

    • (1b) ut_horiz_urdf: https://github.com/bmoos15/ut_urdf.git

      git clone git@github.com:bmoos15/ut_urdf.git
      

• (4) kuka_rsi_hw_interface: https://github.com/UoS-EEE-Automation/kuka_rsi5.git

  git clone git@github.com:UoS-EEE-Automation/kuka_rsi5.git
  

  • KRC5_ROS README (for robot connection): https://github.com/UoS-EEE-Automation/KRC5_ROS.git

• (5) peak_ltpa branch ndt_servoing_moos: https://github.com/MShields1986/peak_ros.git

  git clone -b ndt_servoing_moos git@github.com:MShields1986/peak_ros.git
  

• (6) ut_servoing (YOU ARE HERE)

  git clone -b master git@github.com:UoS-EEE-Automation/ut_servoing.git