Generally speaking, this project aims at the following functions as initial plan
- LaserScanner sans the object such as a printed asparagus and send the positions (relative to LaserScanner) to ROS messages pool
- Object detecting algorithms subscribe the data from ROS messages pool, figure out the objects, then publish the positions to the messages pool
- Robot calibration algorithms subscribe the object positions from the messages pool, calculate the positions (Relative to Robot) and publish them into the messages pool
- MoveIt module subscribes the calibrated possitions, sends commands to the robot controller which drives the end-effectors to the top of the obeject
Author: Mengbin (Mike) Min
Email: prlatlab@gmail.com; robotintheworld@163.com
http://prllab.wixsite.com/prl-lab-en
Copyrights Reserved
Your comments and suggestions are highly appreciated! Thanks for your time.
Tests: https://youtu.be/7wkOMaIlb2Y?list=PLTK_5YZhA5tG_WGu19Jo2jqEyzdOrrMiM https://youtu.be/4BsFXOpYxok?list=PLTK_5YZhA5tG_WGu19Jo2jqEyzdOrrMiM https://youtu.be/IIv79k23aNI?list=PLTK_5YZhA5tG_WGu19Jo2jqEyzdOrrMiM
Hardware Setup (Make sure that they are all connected correctly) https://youtu.be/DwD2qFIzZu8
Usage:
Operating the following steps on Linux:
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roscore (If roscore doesnot run now, please open a new terminal, please run this command)
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sudo chmod a+rw /dev/ttyACM0 (Open a new terminal, more details available at https://github.com/ros-gbp/urg_node-release) (Note for me: /home/laserset.txt run . laserset)
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rosrun urg_node urg_node (more details available at https://github.com/ros-gbp/urg_node-release) (Note for me: /home/urgnode.txt run . urgnode)
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rosrun rviz rviz (Open a new terminal)
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Add a LaserScan on rviz by clicking Add on the bottom of the left Displays panel (more details available at https://github.com/ros-gbp/urg_node-release)
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Change the Topic (Under LaserScan) to /scan (more details available at https://github.com/ros-gbp/urg_node-release)
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Change the Fixed Frame (Under Global Options) to /laser (more details available at https://github.com/ros-gbp/urg_node-release) Now, the dots are shown on the rviz window https://www.youtube.com/watch?v=iAATysYQh3g&t=3s&list=PLTK_5YZhA5tG_WGu19Jo2jqEyzdOrrMiM&index=2.
For Simulation:
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rosrun test2 laserscantester
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roslaunch abbaspa abbga.launch has_velocity_limits:=false (Note for me: /home/abbaspasimu.txt run . abbaspasimu) rviz -1 exit code -11 progress has died (my guess I update my rviz to newest version(mine is 1.12.15), so rviz could not run properly as before) solution: solved by rosrun rviz rviz add -> rviz-> robot model rosrun abb2ros motion_planning_aspa (which is the next step, you can run first though) displays -> Global Options -> Fixed Frame ->base (for my case) displays -> RobotModel ( tick this or untick and tick again just for updating)
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rosrun abb2ros motion_planning_aspa (Note for me: /home/commandexecute.txt run . commandexecute)
Error: error while loading shared libraries: libmoveit_move_group_interface.so.0.9.9: cannot open shared object file: No such file or directory refer to: moveit/moveit_tutorials#67 solution: solved by commands: sudo apt-get update sudo apt-get upgrade
You can move the object, and you can see the results as shown by the this video https://youtu.be/ObHPCBsrXIE (A 3D_Printed Asparagus)
For Real Robot (2 ways):
One way of using MoveIt. (_______)
Now, the robot arm starts moving to the target object in the rviz virtural environment. If you move the object, the arm will move to a new position relatively based on the laser scanner feedback.
Another way of using internet communication without using MoveIt module
- rosrun test2 laser_aspa_pos (Open a new terminal) (Note for me: /home/laserposition.txt run . laserposition) Now you can see the pulished positions like
[ INFO] [1506576087.330292101]: the number of points is 375
[ INFO] [1506576087.330360426]: First point: [-2.200428 -0.756997]
[ INFO] [1506576087.430859164]: the number of points is 378
[ INFO] [1506576087.430929933]: First point: [-2.169223 -0.746262]
[ INFO] [1506576087.531532844]: the number of points is 379
[ INFO] [1506576087.531611148]: First point: [-2.180571 -0.750166]
[ INFO] [1506576087.631865229]: the number of points is 381
[ INFO] [1506576087.631932325]: First point: [-2.182462 -0.750816]
- Change ABB IRB120 to Auto Mode
- Run the Program called Server from T_ROB1
- rosrun abb2ros abb_ah
First the internet communication between ROS and IRC5 controller is connected. https://www.youtube.com/watch?v=KQ2W-rRu9kg
Then the robot arm starts moving to the target object. If you move the object (it is a 3D printed asparagus for this case), the arm will move to a new position relatively based on the laser scanner feedback. Also, you can start robotstudio on Windows and monitor the robot movement online.
https://www.youtube.com/watch?v=7wkOMaIlb2Y
Your comments and suggestions are highly appreciated! Thanks for your time.
Mengbin (Mike) Min 30/09/2017