This package is written an tested on Ubuntu 20.04 + ROS Noetic environment. Dependencies are also for this environment.
There are a number of dependencies in this package, since the ARCHIE robot is operated by ROS-Industrial package. Please install all the packages listed below in your Ubuntu PC, in the given order. These packages can be installed by apt package manager.
- ros-noetic-desktop-full
- ros-noetic-industrial-core
- ros-noetic-industrial-msgs
- ros-noetic-industrial-robot-client
- ros-noetic-industrial-robot-simulator
- ros-noetic-industrial-utils
- ros-noetic-moveit
- ros-noetic-joint-state-publisheser-gui
- ros-noetic-joint-trajectory-controller
Now, extract the metapackage robotic_arm (this repository) into ~/{your_workspace_name}/src. In this example catkin_make will be used as the workspace name. The step-to-step can be found at the official ROS page. To clone the repository you can either download it as zip file and paste at ~/catkin_ws/src or
cd ~/catkin_ws/src
git clone https://github.com/RAMEL-ESPOL/ARCHIE.git
To source your workspace write the following command in terminal, if you don't do it your terminal won't find the workspace's packages:
source devel/setup.bash
It is necessary to write the command at every terminal your going to use, if you don't want to write it every time make the following steps:
gedit ~/.bashrc
A text editor will open, go to the last line and write the next:
source ~/catkin_ws/devel/setup.bash
To make the FK and IK this project uses MoveIt!, it is not included at the full ROS installation, so you can install it with binary install:
sudo apt install ros-noetic-moveit
First you need the pip tool for the next installations, then:
sudo pip install -U numpy
sudo pip install spatialmath-rospy
sudo pip install spatialmath-python
These projects belong respectively to SpatialMath Rospy and SpatialMath Python.
To use the gripper for ARCHIE you need to install the next library:
sudo apt-get install ros-noetic-ros-control ros-noetic-ros-controllers
If you are going to work at the PWM mode:
sudo apt-get install ros-noetic-kdl-parser-py
pip install pybind11
You need to install the orocos_kinematics_dynamics repository in your workspace $catkin_ws/src. The installation instructions can be found in the orocos repository.
- archie_description: This package contains the URDF and XACRO files for diferents configuration of the robot.
- archie_master: This pasckage contains a diferrents examples of motion used MoveIt of the real robot.
- archie_moveit: This package contains the diferent MoveIt configuration of diferents configuration of the robot
- communication: This package contains the executable to set up the communication between the robot and the U2D2 controller.
-
Launch the robot visualization Rviz
roslaunch archie_description display.launch -
Launch the robot with Moveit configuration
roslaunch archie_moveit demo.launch
-
Launch the robot visualization with MoveIt and the move_arm_node
roslaunch archie_moveit move_arm_rviz.launch -
Run the executable python file to watch ARCHIE moving, for example:
roslaunch archie_master write_word.launch
2.1. You could also run:
roslaunch archie_master plan.launch
- Launch the robot in gazebo
roslaunch archie_gazebo archie_gazebo.launch
The real robot work with the communication package to communicate with the controller and the archie_moveit package for precaution collision in our workspace or environment
Setup the Robot, turn on and connect the USB cable to your computer.
-
Give the permissions to the terminal to use the USB port every time we launch a new terminal
sudo chmod 666 /dev/ttyUSB0 -
Launch the robot communication
roslaunch communication communication.launch -
In another terminal launch MoveIt with Rviz:
roslaunch archie_moveit move_arm_rviz.launch -
Run the executable python file we would like to use, for example:
roslaunch archie_master write_word.launch