Scan and Polish application

>> 3D animation

Application implements

• godel (Scan and Plan): https://github.com/ros-industrial-consortium/godel
• ensenso_driver: https://github.com/ensenso/ros_driver ( funded)
• pilz_robots: https://github.com/PilzDE/pilz_robots
• pilz_industrial_motion: https://github.com/PilzDE/pilz_industrial_motion ( funded)

Installation

# Install Ensenso SDK (from https://www.ensenso.com/support/sdk-download) by:
wget -q https://download.ensenso.com/s/ensensosdk/download?files=ensenso-sdk-2.2.65-x64.deb -O /tmp/ensenso.deb && dpkg -i /tmp/ensenso.deb

# Create a new ROS workspace
mkdir -p ~/snp_demo_ws/src && cd ~/snp_demo_ws/src

# Download demo repository
git clone https://github.com/rosin-project/automatica18_scan_and_plan_demo.git

# Download dependencies
wstool init .
wstool merge ~/snp_demo_ws/src/automatica18_scan_and_plan_demo/snp_prbt.rosinstall
wstool up

# Reset ROS_PACKAGE_PATH
source /opt/ros/kinetic/setup.bash

# Install dependencies 
rosdep update && rosdep install --from-paths ~/snp_demo_ws/src --ignore-src --skip-keys="pilz_modbus pilz_sto_modbus_adapter prbt_pg70_support"


# Build workspace
cd ~/snp_demo_ws && catkin build 

# Source workspace
source ~/snp_demo_ws/devel/setup.bash

Run application

# Simulation:
roslaunch snp_prbt_bringup application_bringup.launch
# Info: Make sure to press play in Gazebo

# Real robot:
roslaunch snp_prbt_bringup application_bringup.launch sim_robot:=false
# Info: Real robot requires pilz_modbus and pilz_sto_modbus_adapter

Scan and Plan: Remove local scan_parameter cache

Make sure to clear possible local godel_robot_scan_parameters since they would overwrite the ones of this repo (snp_prbt_bringup/config/robot_scan.yaml).

rm -f ~/.ros/godel_robot_scan_parameters.msg

Systems settings for real devices

Camera: uEye Driver

wget -q https://download.ensenso.com/s/idsdrivers/download?files=uEye_4.90.0_Linux_64.tgz -O /tmp/ueye.tgz
tar -xvzf /tmp/ueye.tgz  -C /tmp
sudo /tmp/ueyesdk-setup-4.90-eth-amd64.gz.run

Robot: CAN interface

Add in /etc/network/interfaces the following config for the socketcan_interface.

allow-hotplug can0
iface can0 can static
    bitrate 1000000
    up ip link set $IFACE txqueuelen 15