workshop-raccoon-cv

KUKA prc example files

example_robot_programming_in_Rhino

0. ROS Setup

Ubuntu 20.04.6 LTS install of ROS Noetic

https://wiki.ros.org/noetic/Installation/Ubuntu

sudo apt install ros-noetic-rosbridge-server ros-noetic-ros-controllers ros-noetic-ros-control
mkdir -p catkin_ws/src
cd catkin_ws/src
git clone https://github.com/rccn-dev/compas_fab_backend.git
git clone https://github.com/rccn-dev/kuka_kr300_support.git
git clone https://github.com/rccn-dev/kuka_robot_driver_interfaces.git
git clone https://github.com/rccn-dev/rccn_robot_cell.git

# Official packages
git clone https://github.com/ros-planning/moveit_calibration.git
git clone https://github.com/introlab/rtabmap_ros.git
cd catkin_ws/src
rosdep install -y --from-paths . --ignore-src --rosdistro noetic
cd ..
catkin_make
source devel/setup.bash
roslaunch rccn_east_robot_moveit_config demo.launch

• rviz open

1. NUC IP Setup

192.168.1.221

@ws-nuc-a:~/Projects/raccoon-cv$ export ROS_MASTER_URI=http://192.168.1.113:11311
@ws-nuc-a:~/Projects/raccoon-cv$ echo $ROS_MASTER_URI 
@ws-nuc-a:~/Projects/raccoon-cv$ roslaunch realsense2_camera rs_camera.launch 

2. PC IP Setup

export ROS_IP:=192.168.1.113
export ROS_MASTER_URI=http://192.168.1.113:11311

cd catkin_ws
source devel/setup.bash

roslaunch rccn_east_robot_kvp_moveit_config demo.launch #Make sure connected with KUKA

3. KUKA Moveit Calibration

Open camera in NUC IP

@ws-nuc-a:~/Projects/raccoon-cv$ roslaunch realsense2_camera rs_camera.launch 

or

roslaunch realsense2_camera rs_camera.launch color_width:=800 color_height:=600 color_fps:=15 camera:=cam_0 serial_no:=025222073397

PC

rosrun rqt_image_view rqt_image_view  #Read the screen from camera

Calibration parameters adjustment such as the example in pictures (you should measure the ArUco Markers in the physical environment), setting sensor configuration: Eye-in-hand and and frame selection, sampling 20 different camera poses by moving KUKA manually. Save Camera Pose.

• calibration parameters

NUC

If you want to start the camera node and align the depth stream to other available streams such as color or infra-red for point-cloud scanning, please add 'align_depth:=true'.

@ws-nuc-a:~/Projects/raccoon-cv$ roslaunch realsense2_camera rs_camera.launch color_width:=1280 color_height:=720 color_fps:=15 camera:=cam_0 serial_no:=025222073397 align_depth:=true

ROS Core

Make sure roscore always running.

roscore

4. Parameters of calibration launch

Getting parameters from the 'Save Camera Pose' step in the picture 'calibration_parameters'

File Path: /home/raccoon_admin/Projects/raccoon_cv/catkin_ws_test/src/rccn_robot_cell/moveit_config/rccn_east_robot_kvp_moveit_config/launch/camera_tf.launch

Modifying parameters of 'args' by opening 'camera_tf.launch'

Check the TF_tree

rqt_tf_tree is a runtime tool for visualizing the tree of frames being broadcast over ROS.

• TF trees

5. Start the scanning

raccoon_admin@Ubuntu-Seney:~/Projects/raccoon_cv/catkin_ws_test$ roslaunch rccn_east_robot_kvp_moveit_config robot_scan.launch
raccoon_admin@Ubuntu-Seney:~/Projects/raccoon_cv/catkin_ws_test$ roslaunch rccn_east_robot_kvp_moveit_config camera_tf.launch
raccoon_admin@Ubuntu-Seney:~/Projects/raccoon_cv/catkin_ws_test$ roslaunch rccn_east_robot_kvp_moveit_config demo.launch

Utilizing the KUKA teach pendant in the scanning process

Control+C to stop:

raccoon_admin@Ubuntu-Seney:~/Projects/raccoon_cv/catkin_ws_test$ roslaunch rccn_east_robot_kvp_moveit_config robot_scan.launch

And you will get:

rtabmap: Saving database/long-term memory... (located at /home/raccoon_admin/.ros/rtabmap.db) rtabmap: Saving database/long-term memory...done! (located at /home/raccoon_admin/.ros/rtabmap.db, 1377 MB)

• RACCOON point cloud scanning result