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RePAIR ROS Robot

1) Description

This repository contains the software to control the simulated and real RePAIR robot.

Dependencies

2) Installation

  • Clone the repository along with the submodules

     mkdir -p ~/repair_robot_ws/src && cd ~/repair_robot_ws/src

 git clone --recurse-submodules -j8 https://github.com/RePAIRProject/repair_ros_robot.git

  • Install required Python packages

     cd ~/repair_robot_ws/src/repair_ros_robot
 pip3 install -r requirements.txt

  • Build the workspace

    • source ROS (source /opt/ros/noetic/setup.bash) in all terminals
     cd ~/repair_robot_ws

 catkin build
    Troubleshooting
    If you get errors during build similar to (where package name is some name): 
     CMake Error at /opt/ros/noetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
 Could not find a package configuration file provided by
 "package_name" with any of the following names:

 	package_nameConfig.cmake
 	package_name-config.cmake

 Add the installation prefix of "package_name" to CMAKE_PREFIX_PATH
 or set "package_name" to a directory containing one of the
 above files.  If "package_name" provides a separate development
 package or SDK, be sure it has been installed.

    Check the list below:

    Failure for realsense2 (missing "ddynamic_reconfigure")

    From this issue it looks like it should be installed by running:

     sudo apt-get install ros-noetic-ddynamic-reconfigure

    Failure for repair_moveit_xbot (missing "moveit_ros_planning")

    Install moveit by

     sudo apt-get install ros-noetic-moveit

    Failure for repair_moveit_xbot (missing "rviz_visual_tools")

    Install it by

     sudo apt-get install ros-noetic-rviz-visual-tools

    Failure for repair_moveit_xbot (missing "moveit_visual_tools")

    Install it by

     sudo apt-get install ros-noetic-moveit-visual-tools
    • After successful build, source the workspace in all the terminals
     cd ~/repair_robot_ws

 source devel/setup.bash

  • For Gazebo:

    • Copy the fragment model folder from repair_urdf/sdf/frag3 to ~/.gazebo/models/frag3.
    • Change the path in file pysdf/src/pysdf/parser.py line 26 to your catkin_ws src path.

  • Install XBot2 to use the real robot drivers (Source)

     sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

sudo apt install curl 
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

sudo apt update && sudo apt install -y \
ros-noetic-ros-base \
libgazebo11-dev

echo ". /opt/ros/noetic/setup.bash" >> ~/.bashrc

source $HOME/.bashrc
sudo apt install -y \
ros-$ROS_DISTRO-urdf ros-$ROS_DISTRO-kdl-parser \
ros-$ROS_DISTRO-eigen-conversions ros-$ROS_DISTRO-robot-state-publisher ros-$ROS_DISTRO-moveit-core \
ros-$ROS_DISTRO-rviz ros-$ROS_DISTRO-interactive-markers ros-$ROS_DISTRO-tf-conversions ros-$ROS_DISTRO-tf2-eigen \
qttools5-dev libqt5charts5-dev qtdeclarative5-dev

sudo sh -c 'echo "deb http://xbot.cloud/xbot2/ubuntu/$(lsb_release -sc) /" > /etc/apt/sources.list.d/xbot-latest.list'
wget -q -O - http://xbot.cloud/xbot2/ubuntu/KEY.gpg | sudo apt-key add -  
sudo apt update
sudo apt install xbot2_desktop_full

echo ". /opt/xbot/setup.sh" >> ~/.bashrc

  • Setup XBot2 to use the real robot drivers set_xbot2_config ~/repair_robot_ws/src/repair_ros_robot/repair_cntrl/config/repair_basic.yaml

For docs on repair_interface, go to the repair_interface.

3) Usage

Gazebo simulation

View the robot in Gazebo

roslaunch repair_gazebo repair_gazebo.launch
  • You can ignore the following error messages, the model uses position controllers while p gains are only needed for effort controllers [ERROR] [1675347973.116238028]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/x_joint

Motion planning and execution with Moveit and ros_control in Gazebo

roslaunch repair_gazebo bringup_moveit.launch launch_gazebo:=true sh_version:=v1_2_research fixed_hands:=false
  • launch_gazebo:=true/false (default false): if true launches Gazebo for simulation, if false (default) real robot
  • sh_version:=v1_2_research/v1_wide/mixed_hands (default v1_2_research): to use standard (small) hand/wide hand/standard hand on right and wide hand on left
  • fixed_hands:=true/false (default true): true is needed for planning with real robot, but you cannot plan in simulation, set it to false to plan in Gazebo

Errors and warnings

  • You can ignore the following error messages, the model uses position controllers while p gains are only needed for effort controllers [ERROR] [1675347973.116238028]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/x_joint
  • You can ignore the warning messages about unknown links in URDF (e.g. [ WARN] [1706696422.918657977, 1.124000000]: Link 'right_hand_v1_2_research_thumb_proximal_link' is not known to URDF. Cannot disable/enable collisons.), they doesn't affect the run of the simulation, you won't only be able to see the hand opening/closing in Rviz

XBot2

XBot2 is required when you want to control the real robot. Furthermore, there is a dummy mode that can be used to emulate the real robot interface. Using the dummy mode allows to use RVIZ with Moveit with the real robot controls instead of ros_control. Currently, this repository does not support using the dummy mode with Gazebo.

Dummy mode

  • First, you have to configure your .bashrc so that the roscore is running on your local machine. For this purpose, add the following lines to your .bashrc.

     export ROS_MASTER_URI=http://{local_IP}:11311
 export ROS_IP={local_IP}

  • Then, source your .bashrc and start the roscore in window 1.

     roscore

  • Start XBot2 in window 2.

     xbot2-core --hw dummy

  • Now you you have to start the bridge between XBot2 and ROS in window 3.

     rosrun repair_moveit_xbot moveit_xbot_bridge_node

  • Finally, in window 4 you can start RVIZ and Moveit to control the emulated robot.

     roslaunch repair_moveit_xbot bringup_moveit.launch

Real robot

  • First, you have to configure your .bashrc so that the roscore is running on the robot PC. For this purpose, add the following lines to your .bashrc.

     export ROS_MASTER_URI=http://{robot_IP}:11311
 export ROS_IP={local_IP}

  • Then, source your .bashrc and connect via ssh to the real robot PC. You will need at least 3 remote command windows.

     ssh -X {host_name}@{robot_IP}

  • Check in remote window 1 that the roscore is running. In case the roscore is not running you can restart it using the system command systemctl --user restart roscore.service

     rostopic list

  • Then used the same window to start the ecat_master.

     ecat_master

  • Now start XBot in remote window 2:

     xbot2-core --hw ec_pos

    This starts the motors to be controllable with position control. Alternatively you can start them in idle mode using xbot2-core --hw idle

  • Finally use the following to start the gui:

     xbot2-gui

  • On your local PC you will need at least 3 command windows.

  • First, you can start Moveit:

     roslaunch repair_moveit_xbot bringup_moveit.launch

  • Furthermore, start the moveit server:

     rosrun repair_interface moveit_client.py

  • In order to run the camera, use:

    roslaunch realsense2_camera demo_pointcloud_new.launch

  • Finally, In Order to use the Fresco recognition, run:

    rosrun repair_interface sand_detection.py

Now the szstem is set-up, and other code can be started!

Moveit configuration

  • To increase/reduce the number of points for a trajectory, update the following parameter for arm_1 and arm_2 in repair_moveit_config_v2/config/ompl_planning.yaml

     longest_valid_segment_fraction: 0.00005

  • To increase/decrease the velocity of arm joints, update the following parameter in repair_moveit_config_v2/config/joint_limits.yaml

     default_velocity_scaling_factor: 0.1
 default_acceleration_scaling_factor: 0.1

  • Alternatively, velocity and acceleration scaling factors can be updated in the Rviz Motion Planning plugin before planning a path.

Run the pick and place demo

The goal of the demo is to pick and place any number of fresco fragments.

rosrun repair_interface moveit_multi_fresco_cleaned.py

Note: sh_version options are [v1_2_research, v1_wide, mixed_hands]

To run recognition, a few files need to be added (ask Luca Palmieri for the files):

  • RPf_00123 to RPf_001266 should be added to repair_ros_robot/repair_urdf/sdf
  • RPf_00123 to RPf_001266 should also be added to /home/.gazebo/models
  • The fragment database directory fragments_db should be added to /home/.gazebo

Information about used topics

  • To inspect all the topics exposed by xbot2 run rostopic list:
  • Send commands to the joints (SoftHand excluded) using /xbotcore/command topic
  • Read joint states (SoftHand excluded) using /xbotcore/joint_states topic
  • Send commands to the SoftHans using /{left/right}_hand_v1s/synergy_command topic, or inspect the state of each finger looking at /{left/right}_hand_v1s/{fingername}_state topic

4) Known Issues

  • Translation axis needs to be included

5) Relevant publications

T.B.A.