feat(arcor2_ur): control of VGC10 suction

robofit · Nov 6, 2024 · 56d3f4e · 56d3f4e
1 parent 9f3e5cc
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diff --git a/3rdparty/constraints.txt b/3rdparty/constraints.txt
diff --git a/3rdparty/flake8_lockfile.txt b/3rdparty/flake8_lockfile.txt
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diff --git a/3rdparty/requirements.txt b/3rdparty/requirements.txt
@@ -54,3 +54,4 @@ types-setuptools==74.1.0.20240907
 pydub-stubs==0.25.1.1
 opencv-stubs[opencv-contrib]==0.0.10
 lark==1.2.2
+pymodbus~=3.7.4
diff --git a/compose-files/ur-demo/docker-compose.lab.yml b/compose-files/ur-demo/docker-compose.lab.yml
@@ -1,7 +1,7 @@
 services:
   ur-demo-robot-api:
     environment:
-      - ROBOT_IP=192.168.104.149
+      - ARCOR2_UR_ROBOT_IP=192.168.80.2
     volumes:
       - ./robot_calibration.yaml:/root/robot_calibration.yaml
-    network_mode: host  # ObjectType has to connect to localhost:5012
+    network_mode: "host"  # ObjectType has to connect to localhost:5012
diff --git a/compose-files/ur-demo/docker-compose.sim.yml b/compose-files/ur-demo/docker-compose.sim.yml
@@ -19,14 +19,12 @@ services:
       - ursim-programs:/ursim/programs
   ur-demo-robot-api:
     environment:
-      - ROBOT_IP=ur-demo-ursim
-      - SLEEP=10
+      - ARCOR2_UR_ROBOT_IP=ur-demo-ursim
+      - ARCOR2_UR_STARTUP_SLEEP=10
     networks:
       - ur-demo-network  # ObjectType has to connect to ur-demo-ursim:5012
 
 volumes:
   ursim-gui-cache:
   urcap-build-cache:
-  ursim-programs:
-  ur-demo-asset:
-  ur-demo-execution:
+  ursim-programs:
diff --git a/compose-files/ur-demo/docker-compose.yml b/compose-files/ur-demo/docker-compose.yml
@@ -1,6 +1,6 @@
 services:
   ur-demo-robot-api:
-    image: arcor2/arcor2_ur:1.3.0
+    image: arcor2/arcor2_ur:1.4.0
     container_name: ur-demo-robot-api
     ports:
       - "5012:5012"
@@ -146,7 +146,7 @@ services:
       - ur-demo-asset
 
   ur-demo-upload-object-types:
-    image: arcor2/arcor2_ur_ot:1.3.0
+    image: arcor2/arcor2_ur_ot:1.4.0
     container_name: "ur-demo-upload-object-types"
     depends_on:
       ur-demo-project:

diff --git a/mypy.ini b/mypy.ini
@@ -139,3 +139,6 @@ ignore_missing_imports = True
 
 [mypy-ur_msgs.*]
 ignore_missing_imports = True
+
+[mypy-std_msgs.*]
+ignore_missing_imports = True
diff --git a/src/docker/arcor2_ur/BUILD b/src/docker/arcor2_ur/BUILD
@@ -1,2 +1,2 @@
 shell_source(name="start.sh", source="start.sh")
-docker_image(name="arcor2_ur", repository="arcor2/arcor2_ur", dependencies=[":start.sh", "build-support:install_ur_dependencies.sh"], image_tags=["1.3.0"])
+docker_image(name="arcor2_ur", repository="arcor2/arcor2_ur", dependencies=[":start.sh", "build-support:install_ur_dependencies.sh"], image_tags=["1.4.0"])
diff --git a/src/docker/arcor2_ur/Dockerfile b/src/docker/arcor2_ur/Dockerfile
@@ -1,22 +1,22 @@
-FROM ubuntu:24.04 AS deps
+FROM ubuntu:noble-20241011 AS deps
 COPY src.python.arcor2_ur.scripts/ur.pex /binary.pex
 RUN apt-get update && apt-get install -y -q --no-install-recommends \
     python3=3.12.3-0ubuntu2
 RUN PEX_TOOLS=1 python3 /binary.pex venv --scope=deps --compile /bin/app
 
-FROM ubuntu:24.04 AS srcs
+FROM ubuntu:noble-20241011 AS srcs
 COPY src.python.arcor2_ur.scripts/ur.pex /binary.pex
 RUN apt-get update && apt-get install -y -q --no-install-recommends \
     python3=3.12.3-0ubuntu2
 RUN PEX_TOOLS=1 python3 /binary.pex venv --scope=srcs --compile /bin/app
 
-FROM ubuntu:24.04
+FROM ubuntu:noble-20241011
 
 ARG DEBIAN_FRONTEND=noninteractive
 
 RUN apt-get update && apt-get install -y -q --no-install-recommends \
     python3=3.12.3-0ubuntu2 \
-    curl=8.5.0-2ubuntu10.3 \
+    curl=8.5.0-2ubuntu10.4 \
     gnupg2=2.4.4-2ubuntu17 \
     lsb-release=12.0-2 \
     locales=2.39-0ubuntu8 \
@@ -42,12 +42,16 @@ RUN apt-get update \
         && /root/install_ur_dependencies.sh \
         && apt-get install -y -q --no-install-recommends \
         libglib2.0-0=2.80.0-6ubuntu3.1 \
-        libgomp1=14-20240412-0ubuntu1 libusb-1.0-0=2:1.0.27-1 \
+        libgomp1=14.2.0-4ubuntu2~24.04 libusb-1.0-0=2:1.0.27-1 \
         && apt-get clean \
         && rm -rf /var/lib/apt/lists/*
 
 RUN echo "source /opt/ros/jazzy/setup.bash" >> /etc/bash.bashrc
 
+ENV ARCOR2_UR_TYPE=${ARCOR2_UR_TYPE}
+ENV ARCOR2_UR_ROBOT_IP=${ARCOR2_UR_ROBOT_IP}
+ENV ARCOR2_UR_STARTUP_SLEEP=${ARCOR2_UR_STARTUP_SLEEP}
+
 COPY src/docker/arcor2_ur/start.sh /root/start.sh
 RUN chmod +x /root/start.sh
 ENTRYPOINT ["/root/start.sh"]

diff --git a/src/docker/arcor2_ur/start.sh b/src/docker/arcor2_ur/start.sh
@@ -5,16 +5,16 @@ set -e
 # shellcheck source=/dev/null
 source /opt/ros/jazzy/setup.bash
 
-: "${UR_TYPE:=ur5e}"
+: "${ARCOR2_UR_TYPE:=ur5e}"
 
 # simulator needs some time to get running...
-if [[ -n "$SLEEP" && "$SLEEP" =~ ^[0-9]+$ ]]; then
-	echo "Waiting for $SLEEP seconds..."
-	sleep "$SLEEP"
+if [[ -n "$ARCOR2_UR_STARTUP_SLEEP" && "$ARCOR2_UR_STARTUP_SLEEP" =~ ^[0-9]+$ ]]; then
+	echo "Waiting for $ARCOR2_UR_STARTUP_SLEEP seconds..."
+	sleep "$ARCOR2_UR_STARTUP_SLEEP"
 fi
 
-cp --update=none "$(ros2 pkg prefix --share ur_description)/config/$UR_TYPE/default_kinematics.yaml" /root/robot_calibration.yaml
+cp --update=none "$(ros2 pkg prefix --share ur_description)/config/$ARCOR2_UR_TYPE/default_kinematics.yaml" /root/robot_calibration.yaml
 
-ros2 launch ur_robot_driver ur_control.launch.py ur_type:="$UR_TYPE" robot_ip:="$ROBOT_IP" launch_rviz:=false kinematics_params_file:="/root/robot_calibration.yaml" &
+ros2 launch ur_robot_driver ur_control.launch.py ur_type:="$ARCOR2_UR_TYPE" robot_ip:="$ARCOR2_UR_ROBOT_IP" launch_rviz:=false kinematics_params_file:="/root/robot_calibration.yaml" &
 
 PEX_EXTRA_SYS_PATH=/opt/ros/jazzy/lib/python3.12/site-packages PYTHONOPTIMIZE=1 /bin/app/pex
diff --git a/src/docker/arcor2_ur_ot/BUILD b/src/docker/arcor2_ur_ot/BUILD
@@ -1 +1 @@
-docker_image(name="arcor2_ur_ot", repository="arcor2/arcor2_ur_ot", image_tags=["1.3.0"])
+docker_image(name="arcor2_ur_ot", repository="arcor2/arcor2_ur_ot", image_tags=["1.4.0"])
diff --git a/src/python/arcor2_ur/CHANGELOG.md b/src/python/arcor2_ur/CHANGELOG.md
@@ -2,6 +2,14 @@
 
 The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/),
 
+## [1.4.0] - 2024-11-06
+
+### Changed
+
+- Ability to control OnRobot VGC10 suction through Modbus (requires [RS485 URCap](https://github.com/UniversalRobots/Universal_Robots_ToolComm_Forwarder_URCap) in the robot).
+- `ROBOT_IP` env. variable changed to `ARCOR2_UR_ROBOT_IP`.
+- `PUT /state/start` often failed because robot was not yet ready to start a program - added check for robot's state - however, it does not work at the moment. Until it is resolved, it is recommended to start the robot manually.
+
 ## [1.3.0] - 2024-10-01
 
 ### Changed
Original file line number	Diff line number	Diff line change
		@@ -1 +1 @@
		docker_image(name="arcor2_ur_ot", repository="arcor2/arcor2_ur_ot", image_tags=["1.3.0"])
		docker_image(name="arcor2_ur_ot", repository="arcor2/arcor2_ur_ot", image_tags=["1.4.0"])