feat(arcor2_ur): calibration file

compose-files/ur-demo/README.md

@@ -0,0 +1,13 @@
+# UR Demo
+
+To use with simulator, run:
+
+```bash
+docker compose -f docker-compose.yml -f docker-compose.sim.yml up
+```
+
+For the real robot, use the following command:
+
+```bash
+docker compose -f docker-compose.yml -f docker-compose.lab.yml up
+```

compose-files/ur-demo/docker-compose.lab.yml

@@ -1,6 +1,7 @@
 services:
   ur-demo-robot-api:
-    ports:
-      - "50002:50002"  # robot connects to this port
     environment:
-      - ROBOT_CONTAINER_NAME=ur-20245500974
+      - ROBOT_IP=192.168.104.149
+    volumes:
+      - ./robot_calibration.yaml:/root/robot_calibration.yaml
+    network_mode: host  # ObjectType has to connect to localhost:5012

compose-files/ur-demo/docker-compose.sim.yml

@@ -0,0 +1,32 @@
+services:
+  ur-demo-ursim:
+    image: universalrobots/ursim_e-series:5.17.2
+    container_name: ur-demo-ursim
+    ports:  # network_mode: host can't be (easily) used as ursim starts its own X server
+      - "5900:5900"  # VNC port
+      - "6080:6080"  # web VNC
+#      - "30001:30001"
+#      - "30002:30002"
+#      - "30004:30004"
+#      - "29999:29999"
+    networks:
+      - ur-demo-network
+    environment:
+      - ROBOT_MODEL=UR5
+    volumes:
+      - ursim-gui-cache:/ursim/GUI
+      - urcap-build-cache:/ursim/.urcaps
+      - ursim-programs:/ursim/programs
+  ur-demo-robot-api:
+    environment:
+      - ROBOT_IP=ur-demo-ursim
+      - 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:

compose-files/ur-demo/docker-compose.yml

@@ -1,27 +1,11 @@
 services:
-  ur-demo-ursim:
-    image: universalrobots/ursim_e-series:5.17.2
-    container_name: ur-demo-ursim
-    ports:
-      - "5900:5900"  # VNC port
-      - "6080:6080"  # web VNC
-    networks:
-          - ur-demo-network
-    environment:
-      - ROBOT_MODEL=UR5
-    volumes:
-      - ursim-gui-cache:/ursim/GUI
-      - urcap-build-cache:/ursim/.urcaps
-      - ursim-programs:/ursim/programs
   ur-demo-robot-api:
-    image: arcor2/arcor2_ur:1.2.1
+    image: arcor2/arcor2_ur:1.3.0
     container_name: ur-demo-robot-api
     ports:
       - "5012:5012"
 #    environment:
 #       - ARCOR2_UR_DEBUG=1
-    networks:  # TODO use network_mode: "host" for the real robot
-      - ur-demo-network
     restart: always  # the service tends to crash when calling PUT /state/stop
     cap_add:
       - SYS_NICE
@@ -162,7 +146,7 @@ services:
       - ur-demo-asset
 
   ur-demo-upload-object-types:
-    image: arcor2/arcor2_ur_ot:1.2.1
+    image: arcor2/arcor2_ur_ot:1.3.0
     container_name: "ur-demo-upload-object-types"
     depends_on:
       ur-demo-project:
@@ -190,9 +174,6 @@ services:
       - ARCOR2_ASSET_SERVICE_URL=http://ur-demo-asset:10040
 
 volumes:
-  ursim-gui-cache:
-  urcap-build-cache:
-  ursim-programs:
   ur-demo-asset:
   ur-demo-execution:
 

compose-files/ur-demo/robot_calibration.yaml

@@ -0,0 +1,44 @@
+kinematics:
+  shoulder:
+    x: 0
+    y: 0
+    z: 0.16253268591029907
+    roll: -0
+    pitch: 0
+    yaw: -3.9706105474032749e-07
+  upper_arm:
+    x: 5.9721945474714789e-05
+    y: 0
+    z: 0
+    roll: 1.5694161246097016
+    pitch: 0
+    yaw: 3.8856764585994165e-07
+  forearm:
+    x: -0.42536553582483921
+    y: 0
+    z: 0
+    roll: 3.1411247028186096
+    pitch: 3.1406202190734502
+    yaw: 3.141591474472873
+  wrist_1:
+    x: -0.39236572259516306
+    y: -0.00038526533421009263
+    z: 0.13417899372885142
+    roll: 0.0028712711637521563
+    pitch: 3.3546609413013983e-05
+    yaw: 1.2608447936119974e-06
+  wrist_2:
+    x: 5.7243914837099386e-05
+    y: -0.099710274078176342
+    z: 5.5554929734187943e-05
+    roll: 1.5702391633079928
+    pitch: 0
+    yaw: 4.5241975821577735e-07
+  wrist_3:
+    x: 9.4768738018291456e-05
+    y: 0.099660684607093819
+    z: 3.0152958512421488e-05
+    roll: 1.5710988829905641
+    pitch: 3.1415926535897931
+    yaw: 3.1415926477648899
+  hash: calib_15111234226826911485

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=["1.2.1"])
+docker_image(name="arcor2_ur", repository="arcor2/arcor2_ur", dependencies=[":start.sh", "build-support:install_ur_dependencies.sh"], image_tags=["1.3.0"])

src/docker/arcor2_ur/start.sh

@@ -1,15 +1,20 @@
 #!/bin/bash
 
+set -e
+
 # shellcheck source=/dev/null
 source /opt/ros/jazzy/setup.bash
 
 : "${UR_TYPE:=ur5e}"
-: "${ROBOT_CONTAINER_NAME:=ur-demo-ursim}"
 
-ROBOT_CONTAINER_IP=$(getent hosts "$ROBOT_CONTAINER_NAME" | awk '{ print $1 }')
+# simulator needs some time to get running...
+if [[ -n "$SLEEP" && "$SLEEP" =~ ^[0-9]+$ ]]; then
+    echo "Waiting for $SLEEP seconds..."
+    sleep $SLEEP
+fi
 
-sleep 10s # TODO find a way how to detect that the robot is up and running (test if some port is opened?)
+cp --update=none "$(ros2 pkg prefix --share ur_description)/config/$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_CONTAINER_IP" launch_rviz:=false &
+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" &
 
 PEX_EXTRA_SYS_PATH=/opt/ros/jazzy/lib/python3.12/site-packages PYTHONOPTIMIZE=1 /bin/app/pex

src/docker/arcor2_ur_ot/BUILD

@@ -1 +1 @@
-docker_image(name="arcor2_ur_ot", repository="arcor2/arcor2_ur_ot", image_tags=["1.2.1"])
+docker_image(name="arcor2_ur_ot", repository="arcor2/arcor2_ur_ot", image_tags=["1.3.0"])

src/python/arcor2_ur/CHANGELOG.md

@@ -2,6 +2,13 @@
 
 The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/),
 
+## [1.3.0] - 2024-10-01
+
+### Changed
+
+- Docker image now checks for a robot calibration file at `/root/robot_calibration.yaml`. If not given, a default one is used.
+- `ROBOT_CONTAINER_IP` was changed to `ROBOT_IP`.
+
 ## [1.2.1] - 2024-09-30
 
 ### Fixed

src/python/arcor2_ur/VERSION

@@ -1 +1 @@
-1.2.1
+1.3.0