Authors:

• Mattia Dei Rossi - Automationware
• Armando Selvija - Automationware
• Michele Tasca - Automationware

Aw robotics

This workspace has been developed and tested on ros melodic.

Requirements

• ros melodic http://wiki.ros.org/melodic/Installation/Ubuntu
• docker https://docs.docker.com/engine/install/ubuntu/
• docker privileges https://docs.docker.com/engine/install/linux-postinstall/
• rt patch reccomended ( not mandatory )
• rt utils https://github.com/FraunhoferItalia/rt_utils ( mandatory for RoboVu )
• sudo apt install ros-melodic-pilz*
• pilz patch ( reccommended ) https://github.com/FraunhoferItalia/pilz_industrial_motion/commit/21536044cdc2e4fec0e72564b62ac6fba9c9ab3f

Compile

cd ~/aw_robotics
catkin build
source devel/setup.bash # for each terminal launched

Launch AwJoint and Awtube on simulation

possible combination of joint_id with joint_size:

• awjoint1750 - J17
• awjoint2080 - J20
• awjoint2580 - J25
• awjoint32100 - J32
• awjoint40100 - J40

Run tests

AwJoint expected behaviour

Command

roslaunch j_actuator_test test.launch sim:=true joint_id:=awjoint32100 joint_size:=J32

Awtube expected behaviour

Joint position Test

Command

roslaunch awtube_test joint_position_test.launch sim:=true awtube_size:=M

Target Pose test

Command

roslaunch awtube_test pose_coords_test.launch sim:=true awtube_size:=M

Cartesian coordinate test

Command

roslaunch awtube_test cartesian_coords_test.launch sim:=true awtube_size:=M

Launch AwJoint and Awtube on real hardware

AwJoints and AwTube currently are moved only in CiA402 mode of operation:

1. Cyclic synchronous position mode -> iface:=position
2. Cyclic synchronous velocity mode -> iface:=velocity
3. Cyclic synchronous torque mode -> iface:=effort

For 1. and 2. mode of operations JointTrjectoryController are available while for 3. only JointGroupEffortController is provided. iface has to be setted launching bringup.launch

Setup:

• pull docker container

docker pull automationware/robovu

• make script executable inside aw_robotics workspace

cd ~/aw_robotics
chmod +x src/aw_driver/awtube_meta/scripts/robovu.sh

• configure realtime tuning script rt_config

• run realtime tuning script inside rt_utils folder

sudo ./activate_all.sh

Run tests

• Configure awtube_meta pkg like awtube_meta configuration

Launch RoboVu with

roslaunch awtube_meta bringup.launch

• Launch AwTube test

roslaunch awtube_test joint_position_test.launch sim:=false awtube_size:=M

roslaunch awtube_test pose_coords_test.launch sim:=false awtube_size:=M

roslaunch awtube_test cartesian_coords_test.launch sim:=false awtube_size:=M

• Launch AwJoint test

roslaunch j_actuator_test test.launch sim:=false joint_id:=awjoint32100 joint_size:=J32

Test Effort Mode

To use JointGroupEffortController controller users have to type the desired target torque on the related topic. **/robot_manager/arm/controller/effort/command like the one shown in the following paragraph. The desired Target Torque is expressed in Nm ( referred to Input Shaft).

rostopic pub /awjoint40100/robot_manager/arm/controller/effort/command std_msgs/Float64MultiArray "layout:
  dim:
  - label: ''
    size: 1
    stride: 0
  data_offset: 0
data:
- 0" #TargetTorque --once