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日志文件

十分重要

Author:Lirui

E-mail:[email protected]

This file would be used to record the commands history ordered by dates
rules:
       * date for Contenys
       * cutting line: --------
       * codes for table key
       * #focus#
       * record steps
       * link the source web

Contents

2017-8-31

there is something wrong.
this package is not support with anything over 1.9.x.
since the ur_driver is, AFAIK, not compatible with UR v3.X.	
but do not delete this folder.

source

if you want to go ahead ,please just download the  ur_modern_driver.
I will test the package above.

source

I have already tried it,but this package can't world correctly.
I will find a new one.
This web published one metheod. I will try it.
yes. I compile the package successfull.

source

Follow this steps

1.download universal_robot_kinetic_devel into the catkin_ws/src
2.dowload  ur_modern_driver_master  into the file above to take the place of ur_driver
3.change the  ur_hardware_interface.cpp  with the codes in the  [web](http://www.linuxidc.com/Linux/2017-03/141507.htm "blogs")
4:catkin_make

It's  apparently that  that way can't work.
I will try a new one.
##~~https://github.com/VCBE123/ur_modern_driver~~##      
this is my own page.
there is something wrong .
    I do it once again.

Successsfull

************************************************* github *******************

1.install git 

	$ git
	The program 'git' is currently not installed. You can install it by typing:
	sudo apt-get install git
2.
	$ git config --global user.name "Your Name"
	$ git config --global user.email "[email protected]"

3.creat repository
	$ mkdir learngit
	$ cd learngit
	$ pwd
	/Users/michael/learngit
4.init 
	$ git init
	Initialized empty Git repository in /Users/michael/learngit/.git/

5.add readme.txt
	........ git add readme.txt
6.commit 
	$ git commit -m "wrote a readme file"  ## -m  : message
	[master (root-commit) cb926e7] wrote a readme file
 	1 file changed, 2 insertions(+)
 	create mode 100644 readme.txt
7.git add --all

*********************************************** commit to remote repository *****
source

1.creat ssh key
	$ ssh-keygen -t rsa -C "[email protected]"	
	Generating public/private rsa key pair.
	Enter file in which to save the key (/home/jzhang/.ssh/id_rsa): 
	Enter passphrase (empty for no passphrase): 
	Enter same passphrase again: 
	Your identification has been saved in /home/jzhang/.ssh/id_rsa.
	Your public key has been saved in /home/jzhang/.ssh/id_rsa.pub.
	The key fingerprint is:
		SHA256:s1JHGMX2rnsWn8r06Snqxwv9lvvM06aX4fc6mN3V2Oo [email protected]
		The key's randomart image is:
		+---[RSA 2048]----+
		|        .o.      |
		|         oo      |
		|        ....     |
		|         .  .    |
		|        S ..   o.|
		|       . + .o ..+|
		|      . . .oo*.==|
		|       .  .+OoOO*|
		|         .+*+BEOO|
		+----[SHA256]-----+

2. visit  [github](https://github.com/) and sign in your acount.
3. add SSH keys   id_rsa.pub
4. add remot repository  
	sign in GitHub & creat a new repo   ur5  &  public & Apache License
5. commit to remote repo
	$ git remote add origin [email protected]:VCBE123/ur5.git  ##username VCBE123 /repo name ur5
6. push 
	$ git push -u origin master  ####push master to origin 
	error: 无法推送一些引用到 '[email protected]:VCBE123/ur5.git'
	$ git push  origin +master
7.success!!!!

############## 开通博客 ###########
https://github.com/VCBE123/ur5

*************************** ubuntu screen cut *************************

press :Prscrn    
$ shotwell

2017-9-3

modify the launch file:
default robot_ip=192.168.1.5
limit=true

ur5_bringup.launch 	>include < kinect2_bridge.launch  delete "output =screen" >    
			>node <kinect2_viewer>
			>the hardware_interface--  just for sim speed from 1 to 0.3   

* download   ##[ros_controller](https://github.com/ros-controls/ros_control)
* catkin_make successfull 
* rosrun rqt_controller_manager rqt_controller_manager      
  #successfull#    
	<$ rm ~/.config/ros.org/rqt_gui.ini >

* modify the  /home/jzhang/catkin_ws/src/ur_modern_driver-master/ur5_moveit_config/config/ controller.yaml

2017-9-4

* creat package #robot_setup_tf# to pubulish the transform matrix from camera to robot

base_link to kinect2_link
* cmake&test successfull!!! * add #tf_node# to #ur5_bringup.launch# successfull !!! need to be fixed.

2017-9-6

push the git repository ur_modern_driver-master to remote.

2017-9-7

command means
roslaunch ur_gazebo ur5.launch 仿真真实机器人
roslaunch ur_modern_driver ur5_bringup.launch 真实机器人连接&启动kinect2&发布tf_transformation.
roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=false Rviz运动规划及仿真 1.false:真实机器人规划 2.true:gazebo仿真

steps

1.roslaunch ur_modern_driver ur5_bringup.launch
2.roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=false
3.roslaunch ur5_moveit_config moveit_rviz.launch config:=true

gazebo sim

roslaunch ur_gazebo ur5.launch limited:=true
roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true limited:=true
roslaunch ur5_moveit_config moveit_rviz.launch config:=true

real robot

1.roslaunch ur_modern_driver ur5_bringup.launch
2.roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=false limited:=true
3.roslaunch ur5_moveit_config moveit_rviz.launch config:=true

存在一个错误

bring_up:  

	[ INFO] [1504789648.798075878]: waitForService: Service [/kinect2/load_nodelet] is now available.
	[ INFO] [1504789708.604822438]: on_goal
	[ERROR] [1504789710.780998568]: Robot is protective stopped!
	[ WARN] [1504789715.185140401]: Secondary port: No connection. Is controller crashed? Will try to reconnect in 10 seconds...
	[ WARN] [1504789715.191573670]: Realtime port: No connection. Is controller crashed? Will try to reconnect in 10 seconds...
	[ INFO] [1504789725.189786405]: Secondary port: Reconnected
	[ INFO] [1504789725.192952203]: Realtime port: Reconnected
	Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "tool0_controller" from authority "unknown_publisher" because of a nan value in the transform (0.000000 0.000000 0.000000) (-nan -nan -nan -nan)
     	at line 244 in /tmp/binarydeb/ros-kinetic-tf2-0.5.16/src/buffer_core.cpp
	Error:   TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "tool0_controller" from authority "unknown_publisher" because of an invalid quaternion in the transform (-nan -nan -nan -nan)
     	at line 257 in /tmp/binarydeb/ros-kinetic-tf2-0.5.16/src/buffer_core.cpp

ur5_moveit_planning_execution:
	[ INFO] [1504789726.197424600]: Planning attempt 1 of at most 1
	[ERROR] [1504789726.197536738]: Found empty JointState message
	[ WARN] [1504789726.197600522]: Joint 'wrist_2_joint' from the starting state is outside bounds by a significant margin: [ -16.8619 ] should be in the range [ -3.14159 ], 			[ 3.14159 ] but the error above the ~start_state_max_bounds_error parameter (currently set to 0.1)
	[ WARN] [1504789726.197624957]: Joint 'wrist_3_joint' from the starting state is outside bounds by a significant margin: [ -12.4767 ] should be in the range [ -3.14159 ], [ 3.14159 ] but the error above the ~start_state_max_bounds_error parameter (currently set to 0.1)

moveit_rviz:
	[ INFO] [1504789720.683891217]: ABORTED: Solution found but controller failed during execution
	[ INFO] [1504789726.220528773]: ABORTED: No motion plan found. No execution attempted.
	[ERROR] [1504789730.703329743]: Ignoring transform for child_frame_id "tool0_controller" from authority "unknown_publisher" because of a nan value in the transform (0.000000 0.000000 0.000000) (-nan -nan -nan -nan)
	[ERROR] [1504789730.703470849]: Ignoring transform for child_frame_id "tool0_controller" from authority "unknown_publisher" because of an invalid quaternion in the transform (-nan -nan -nan -nan)
	[ERROR] [1504789733.206470083]: Ignoring transform for child_frame_id "tool0_controller" from authority "unknown_publisher" because of a nan value in the transform (-26815634996663506497926541532838688468333027731583940734935550743870004400856709289875207645414123802522204229032200024507277818670185204752351323049951232.000000 -0.000000 -26815635023192343461629092732595116300213112174903854817200734010508414678348141019230411761179382863589389466948106287263311598361505904384281637556322304.000000) (-nan -nan -nan -nan)

gazebo

num comman means
1 roslaunch ur_gazebo ur5.launch limited:=true 载入带限制的gazebo模型
2 roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true limited:=true 设置带限制路径规划仿真
3 roslaunch ur5_moveit_config moveit_rviz.launch config:=true 载入带参数的rviz路径规划

2017-9-8

Permission denied (publickey).
fatal: Could not read from remote repository.
source clone from git catkin_make fail

solve
install ros-kinetic-moveit-full

	sudo apt-get install ros-kinetic-universal-robot  solving all comple error.

so full step:

1: install ubuntu 16.04			 
2: install ROS_Kinetic_desktop_full	 	
3: catkin_workspace init		 
4: git clone ur5.git			  
5: install ros-kinetic-universal-robot

<urgazebo.launch>

2017-9-9

kinetic && kinect2 source

git clone [email protected]:OpenKinect/libfreenect2.git

can't push origin to master?
force to do

git push -f origin master

solve fatal error

add_definitions( -fexceptions )

2017-9-10

  • push ros_control-kinetic-devel to remote
  • comple successs.
  • add ur5.launch realrobot sim with moveit_rviz

2017-9-11

  • learn rosbag play
  • add test.launch to adapt the robot states.
  • delete two files in the ur_modern_driver-master <ur5_moveit_config> <ur_description>

2017-9-12

  • rewrite the history.MD

2017-9-18

add moveit_commander and work fine.
usage:

  1. roslaunch ur_modern_driver ur5.launch

    • launch ur_bringup / move_group / rviz /moveit

  2. rosrun moveit_commander moveit_commander_cmdline.py

  3. use manipulator

  4. just enjoy it!

tips:
help show this screen allow looking <true|false> enable/disable looking around
allow replanning <true|false> enable/disable replanning
constrain clear path constraints
constrain use the constraint as a path constraint
current show the current state of the active group
database display the current database connection (if any)
delete forget the joint values under the name
eef print the name of the end effector attached to the current group
execute execute a previously computed motion plan
go plan and execute a motion to the state
go rand plan and execute a motion to a random state
go

| plan and execute a motion in direction up|down|left|right|forward|backward for distance
ground add a ground plane to the planning scene
id|which display the name of the group that is operated on
joints display names of the joints in the active group
load [] load a set of interpreted commands from a file
pick pick up object
place place object
plan plan a motion to the state
plan rand plan a motion to a random state
planner use planner to plan next motion
record record the current joint values under the name
rotate plan and execute a motion to a specified orientation (about the X,Y,Z axes)
save [] save the currently known variables as a set of commands
show display the names and values of the known states
show display the value of a state
stop stop the active group
time show the configured allowed planning time
time set the allowed planning time
tolerance show the tolerance for reaching the goal region
tolerance set the tolerance for reaching the goal region
trace <on|off> enable/disable replanning or looking around
use switch to using the group named (and load it if necessary)
use|groups show the group names that are already loaded
vars display the names of the known states
wait
sleep for
seconds
x = y assign the value of y to x
x = [v1 v2...] assign a vector of values to x
x[idx] = val assign a value to dimension idx of x

edit the testtcp.py
using moveit api to control the robot.
based on forward kinematics
the code is simple

try:
moveit_commander.roscpp_initialize(sys.argv)
arm=moveit_commander.MoveGroupCommander('manipulator')
end_effector_link=arm.get_end_effector_link()
rospy.loginfo("the end effector link is:"+str(end_effector_link))
arm.set_named_target("home")
traj=arm.plan()
arm.execute(traj)
rospy.sleep(1)

joint_position=[0,0,0,0.0820,0,-0.003]
arm.set_joint_value_target(joint_position)
arm.go()

rospy.sleep(1)

arm.remember_joint_values('saved',joint_position)
arm.set_named_target("up")
arm.go()
rospy.sleep(1)
arm.set_named_target('saved')
arm.go()
rospy.sleep(1)
arm.set_named_target("up")
arm.go()
moveit_commander.roscpp_shutdown()

2017-9-19

#Important changes

  • Reconstruct the <ur5_moveit_config> package

  • in which i add the new state named " reset "

  • the joint state [-275° -76° 85° -102° -85° -93°]

  • besides that ,i reset the kinematic matrix . the sample rate is higher

I will test this changes now .if it works better, i will commit it to the remote repository.

error: when processing file: /home/jzhang/catkin_ws/src/ur5-master/universal_robot-kinetic-devel/ur_description/urdf/ur5.urdf.xacro
included from: /home/jzhang/catkin_ws/src/ur5-master/universal_robot-kinetic-devel/ur_description/urdf/ur5_joint_limited_robot.urdf.xacro
unused args [limited] for include of [/home/jzhang/catkin_ws/src/ur5-master/universal_robot-kinetic-devel/ur_description/launch/ur5_upload.launch]
The traceback for the exception was written to the log file

solve:

edit /ur5_moveit_planning_execution.launch"  set limited =true
    edit /launch/moveit_rviz.launch">         set limited =true

I rerun the setup_assistant again. changes:

    * new staste "reset"
    * kinematic solver ur_kinematics/UR5KinematicsPlugin
    * edit the file   joint_limits.yaml all value  <3.15> >> <1.5>

the function to set #max_velocity and #max_acceleration :

  • arm.set_max_velocity_scaling_factor(0.2)

  • arm.set_max_acceleration_scaling_factor(0.02)

2017-9-19

There is something in the controller box ,the system can't boot. So I start to learn computer vision.

  • install Opencv3 VTK Cmake in my laptop. Win10 64 bit.

2017-10-7

install ctags

:!ctags -R

2017-10-17

debug the ros node

add some code to camakelist

    http://blog.sina.com.cn/s/blog_602f87700102wjwk.html

set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -g ")
set (CMAKE_VERBOSE_MAKEFILE ON)

AR <http://wiki.ros.org/ar_track_alvar>

    1.  roslaunch kinect2_bridge kinect2_bridge.launch 

    2. roslaunch ar_track_alvar pr2_indiv.launch 

    3. rosrun rviz rviz -d 'rospack find ar_track_alvar'/ar_tags.rviz

    4. rostopic echo /ar_pose_marker/markers[0]

try calibrate camera to base.
modefied the testik.py

2017-10-18

set up eclipse for ros 　　　 http://blog.csdn.net/zhangrelay/article/details/51487321

手眼標定：　 　　 　　　　　存在问题：ros中坐标系与真实机械臂相同。但是得到的末端位姿xy都相反 　　

2017-10-19

标定步骤：

１．粘贴AR标签  
２．启动带tf的kinect2　　　	<<roslaunch kinect2_bridge kinect2_bridge.launch>>  	

３．启动用于标定的机器人程序　　<<roslaunch ur_modern_driver urfor_cali.launch >>

4.启动标定程序　		<< roslaunch easy_handeye calibrate.launch eye_on_hand:=false>>