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MAEG5755-2021-Team-PARK

Team PARK Repo for MAEG5755 Robotics Project Pretty, Alice, Rui, Kenson

Objectives

  1. Dexnet 4.0 bin picking demo with Baxter
  2. Refresh Baxter! (ROS Noetic, baxter_interface, realsense2, Moveit)
  3. Documenting how to run a baxter in 2021

Wiki

Wiki is more comprehensive and up-to-date for various topics.

Especically the FAQ

First time setup

mkdir -p $HOME/5755_ws/src
cd $HOME/5755_ws/src
git clone --recursive https://github.com/rojas70/learning_ros_external_pkgs_noetic.git
git clone --recursive https://github.com/rojas70/learning_ros_noetic.git
git clone --recursive https://github.com/mfkenson/MAEG5755-2021-Team-PARK.git team-park

cd $HOME/5755_ws/
cp src/learning_ros_external_pkgs_noetic/baxter/baxter.sh .
cd $HOME/5755_ws/src/team-park/dependencies/ && bash install_dependencies.sh
cat $HOME/5755_ws/src/team-park/dependencies/shortcuts_alias.txt >> ~/.bashrc

Real environment you need to also install librealsense.

Pulling latest from upstream repo

cd $HOME/5755_ws/src/team-park
git pull
git submodule update

Build the workspace

cd $HOME/5755_ws/
catkin_make -DCATKIN_WHITELIST_PACKAGES=""

Successful compile gives 100% built messages.. Example:

...
...
[100%] Built target command_bundler

If there there is an error you can't escape, delete the devel folder and build folder then catkin_make again.

rm -rf $HOME/5755_ws/devel
rm -rf $HOME/5755_ws/build
cd $HOME/5755_ws && catkin_make -DCATKIN_WHITELIST_PACKAGES="" -j1

Make it run

Gazebo Simulation

  • Not recommend to use baxter.sh anymore. We should manually handle the environment variables.
  • In simulation mode, make sure your ~/.bashrc DO export ROS_IP and export ROS_MASTER_URI (pointing to localhost, i.e. 127.0.0.1)
export ROS_IP=127.0.0.1
export ROS_MASTER_URI=http://127.0.0.1:11311
  • You can verify your environment variable by echo $ROS_IP and echo $ROS_MASTER_URI in terminal

Terminal 1: Just an empty world

sw && roslaunch gazebo_ros empty_world.launch

Terminal 2: Spawn baxter with realsense

sw && roslaunch park_gazebo baxter_on_pedestal_w_realsense.launch

Terminal 3: Moveit planning

roslaunch baxter_moveit_tutorial moveit_init.launch

Terminal 4: Rviz

baxter_home && sw && rviz -d src/team-park/park_simulation/park_gazebo/park.rviz

Terminal 5: Enable and unstuck the robot

rosrun baxter_tools enable_robot.py -e
rosrun baxter_tools tuck_arms.py -u

Alt text

Real environment in CUHK Robotics Lab

  • Not recommend to use baxter.sh anymore. We should manually handle the environment variables.
  • In real environment mode, make sure your ~/.bashrc DO export ROS_IP and export ROS_MASTER_URI
  • In this case IP address is 192.168.11.101 and the baxter hostname is 011508P0007.local. Check out the wiki for hostname resolving
export ROS_IP=192.168.11.101
export ROS_MASTER_URI=http://011508P0007.local:11311
  • You can verify your environment variable by echo $ROS_IP and echo $ROS_MASTER_URI in terminal

Terminal 1: Realsense node

sw && roslaunch park_demo camera.launch

Terminal 2: Moveit planning

sw && roslaunch baxter_moveit_tutorial moveit_init.launch

Terminal 3: Rviz

baxter_home && sw && rviz -d src/team-park/park_demo/park_demo/park.rviz

Terminal 4: Enable the robot

rosrun baxter_tools enable_robot.py -e

Terminal 5: Publishing transform for realsense camera and world frame (No need for simulation, and after hand eye calibration only)

baxter_home && sw roslaunch park_demo tf_handeye.launch

here simply launch a generated launch file obtained from hand-eye calibration process. See wiki

Terminal 6: Add a table and spawn some blocks

baxter_home && sw 
roslaunch park_gazebo add_table.launch
roslaunch park_gazebo add_wood_blocks.launch

Terminal 7: Execute dexnet_pick_and_place.py

baxter_home && sw
python3.6 src/team_park/park_demo/park_demo/scripts/dexnet_pick_and_place.py

Caution

In rviz you can plan your path under motion planning tab even with scene planner. Be aware of surroundings when executing trajectory.

Tips for pycharm users

  • Get pycharm IDE here
  • community version is more than sufficient
  • There is a collection of python launcher scripts managing the roslaunch process.
  • See park_demo/park_demo/scripts/launcher
  • Make sure you source the workspace before opening pycharm in terminal and having the roscore running somewhere else