diff --git a/.circleci/config.yml b/.circleci/config.yml index b223106..9d318d1 100644 --- a/.circleci/config.yml +++ b/.circleci/config.yml @@ -32,6 +32,38 @@ commands: command : |- . /opt/ros/${ROS_DISTRO}/setup.bash && cd ~/catkin_ws && catkin_make run_tests . /opt/ros/${ROS_DISTRO}/setup.bash && cd ~/catkin_ws && catkin_test_results --verbose build + build_python3: + steps: + - checkout + - run: + name: Setup ROS catkin workspace + command : |- + apt update + echo 'debconf debconf/frontend select Noninteractive' | debconf-set-selections # fix for tzdata + apt install -y -q lsb-release wget apt gnupg + sh -c "echo \"deb $ROS_REPOSITORY_PATH `lsb_release -cs` main\" > /etc/apt/sources.list.d/ros-latest.list" + wget http://packages.ros.org/ros.key -O - | apt-key add - + apt update + apt install -y --force-yes -q -qq dpkg # https://github.com/travis-ci/travis-ci/issues/9361#issuecomment-408431262 dpkg-deb: error: archive has premature member 'control.tar.xz' before 'control.tar.gz' #9361 + apt install -y -q python3-catkin-pkg python3-rosdep ros-${ROS_DISTRO}-catkin + apt install -y -q mongodb # to install ros-i${ROS_DISTRO}-warehouse-ros + apt install -y -q build-essential + rosdep init && rosdep update --include-eol-distros + mkdir -p ~/catkin_ws/src + cd ~/catkin_ws/src && ln -sf ~/project ${CIRCLE_PROJECT_REPONAME} + - run: + name: Run rosdep install + command : |- + . /opt/ros/${ROS_DISTRO}/setup.bash && cd ~/catkin_ws && rosdep install --from-paths src/ --ignore-src -y + - run: + name: Build packages + command : |- + . /opt/ros/${ROS_DISTRO}/setup.bash && cd ~/catkin_ws && catkin_make + - run: + name: Run tests + command : |- + . /opt/ros/${ROS_DISTRO}/setup.bash && cd ~/catkin_ws && catkin_make run_tests + . /opt/ros/${ROS_DISTRO}/setup.bash && cd ~/catkin_ws && catkin_test_results --verbose build jobs: build_indigo: @@ -58,6 +90,14 @@ jobs: - ROS_REPOSITORY_PATH: http://packages.ros.org/ros/ubuntu steps: - build + build_noetic: + docker: + - image: ubuntu:focal + environment: + - ROS_DISTRO: noetic + - ROS_REPOSITORY_PATH: http://packages.ros.org/ros/ubuntu + steps: + - build_python3 build_doc: docker: @@ -87,6 +127,7 @@ jobs: make docbuild_${CIRCLE_PROJECT_REPONAME}_indigo make docbuild_${CIRCLE_PROJECT_REPONAME}_kinetic make docbuild_${CIRCLE_PROJECT_REPONAME}_melodic + make docbuild_${CIRCLE_PROJECT_REPONAME}_noetic mkdir ~/artifacts && find -L .. -iname '*.pdf' -exec cp {} ~/artifacts/ \; - persist_to_workspace: root: /root @@ -105,6 +146,7 @@ jobs: docker run --rm -v `pwd`:/home/ubuntu/src/ -w /home/ubuntu -it osrf/ros:indigo-desktop sh -c 'apt-get update -q -y; apt-get install -q -y python-bloom fakeroot debhelper; rosdep init; rosdep update --include-eol-distros; cd src; bloom-generate rosdebian --os-name ubuntu --os-version trusty --ros-distro indigo; MAKEFLAGS= fakeroot debian/rules binary; rm -fr debian obj-*; cp ../*.deb .' docker run --rm -v `pwd`:/home/ubuntu/src/ -w /home/ubuntu -it osrf/ros:kinetic-desktop sh -c 'apt-get update -q -y; apt-get install -q -y python-bloom fakeroot debhelper; rosdep init; rosdep update --include-eol-distros; cd src; bloom-generate rosdebian --os-name ubuntu --os-version xenial --ros-distro kinetic; MAKEFLAGS= fakeroot debian/rules binary; rm -fr debian obj-*; cp ../*.deb .' docker run --rm -v `pwd`:/home/ubuntu/src/ -w /home/ubuntu -it osrf/ros:melodic-desktop sh -c 'apt-get update -q -y; apt-get install -q -y python-bloom fakeroot debhelper; rosdep init; rosdep update --include-eol-distros; cd src; bloom-generate rosdebian --os-name ubuntu --os-version bionic --ros-distro melodic; MAKEFLAGS= fakeroot debian/rules binary; rm -fr debian obj-*; cp ../*.deb .' + docker run --rm -v `pwd`:/home/ubuntu/src/ -w /home/ubuntu -it osrf/ros:noetic-desktop sh -c 'apt-get update -q -y; apt-get install -q -y python3-bloom fakeroot debhelper build-essential; rosdep init; rosdep update --include-eol-distros; cd src; bloom-generate rosdebian --os-name ubuntu --os-version focal --ros-distro noetic; MAKEFLAGS= fakeroot debian/rules binary; rm -fr debian obj-*; cp ../*.deb .' mkdir ~/artifacts && find -L . -iname '*.deb' -exec cp {} ~/artifacts/ \; - persist_to_workspace: root: /home/circleci @@ -133,6 +175,7 @@ workflows: - build_indigo - build_kinetic - build_melodic + - build_noetic - build_doc: filters: tags: diff --git a/CMakeLists.txt b/CMakeLists.txt index 9ddec41..f3d29c7 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -61,3 +61,4 @@ endmacro() build_doc(indigo) build_doc(kinetic) build_doc(melodic) +build_doc(noetic) diff --git a/config/chomp_planning.yaml b/config/chomp_planning.yaml new file mode 100644 index 0000000..75258e5 --- /dev/null +++ b/config/chomp_planning.yaml @@ -0,0 +1,18 @@ +planning_time_limit: 10.0 +max_iterations: 200 +max_iterations_after_collision_free: 5 +smoothness_cost_weight: 0.1 +obstacle_cost_weight: 1.0 +learning_rate: 0.01 +smoothness_cost_velocity: 0.0 +smoothness_cost_acceleration: 1.0 +smoothness_cost_jerk: 0.0 +ridge_factor: 0.01 +use_pseudo_inverse: false +pseudo_inverse_ridge_factor: 1e-4 +joint_update_limit: 0.1 +collision_clearence: 0.2 +collision_threshold: 0.07 +use_stochastic_descent: true +enable_failure_recovery: true +max_recovery_attempts: 5 \ No newline at end of file diff --git a/config/fake_controllers.yaml b/config/fake_controllers.yaml new file mode 100644 index 0000000..bc0bea4 --- /dev/null +++ b/config/fake_controllers.yaml @@ -0,0 +1,9 @@ +controller_list: + - name: fake_arm_group_controller + joints: + - joint1 + - joint2 + - joint3 + - joint4 + - joint5 + - joint6 diff --git a/config/firefighter.srdf b/config/firefighter.srdf new file mode 100644 index 0000000..33ab813 --- /dev/null +++ b/config/firefighter.srdf @@ -0,0 +1,42 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/config/gazebo_controllers.yaml b/config/gazebo_controllers.yaml new file mode 100644 index 0000000..bae55f0 --- /dev/null +++ b/config/gazebo_controllers.yaml @@ -0,0 +1,30 @@ +joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: 50 +arm_controller: + type: position_controllers/JointTrajectoryController + joints: + - joint1 + - joint2 + - joint3 + - joint4 + - joint5 + - joint6 + gains: + joint1: { p: 10, d: 0, i: 0, i_clamp: 0 } + joint2: { p: 10, d: 0, i: 0, i_clamp: 0 } + joint3: { p: 10, d: 0, i: 0, i_clamp: 0 } + joint4: { p: 10, d: 0, i: 0, i_clamp: 0 } + joint5: { p: 10, d: 0, i: 0, i_clamp: 0 } + joint6: { p: 10, d: 0, i: 0, i_clamp: 0 } + + constraints: + stopped_velocity_tolerance: 0 + joint1: {trajectory: 0.1, goal: 0} + joint2: {trajectory: 0.1, goal: 0} + joint3: {trajectory: 0.1, goal: 0} + joint4: {trajectory: 0.1, goal: 0} + joint5: {trajectory: 0.1, goal: 0} + joint6: {trajectory: 0.1, goal: 0} + + diff --git a/config/joint_limits.yaml b/config/joint_limits.yaml new file mode 100644 index 0000000..9278185 --- /dev/null +++ b/config/joint_limits.yaml @@ -0,0 +1,34 @@ +# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed +# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration] +# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] +joint_limits: + joint1: + has_velocity_limits: false + max_velocity: 0 + has_acceleration_limits: false + max_acceleration: 0 + joint2: + has_velocity_limits: false + max_velocity: 0 + has_acceleration_limits: false + max_acceleration: 0 + joint3: + has_velocity_limits: false + max_velocity: 0 + has_acceleration_limits: false + max_acceleration: 0 + joint4: + has_velocity_limits: false + max_velocity: 0 + has_acceleration_limits: false + max_acceleration: 0 + joint5: + has_velocity_limits: false + max_velocity: 0 + has_acceleration_limits: false + max_acceleration: 0 + joint6: + has_velocity_limits: false + max_velocity: 0 + has_acceleration_limits: false + max_acceleration: 0 \ No newline at end of file diff --git a/config/kinematics.yaml b/config/kinematics.yaml new file mode 100644 index 0000000..031b273 --- /dev/null +++ b/config/kinematics.yaml @@ -0,0 +1,5 @@ +arm_group: + kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin + kinematics_solver_search_resolution: 0.005 + kinematics_solver_timeout: 0.005 + kinematics_solver_attempts: 3 \ No newline at end of file diff --git a/config/ompl_planning.yaml b/config/ompl_planning.yaml new file mode 100644 index 0000000..fca8179 --- /dev/null +++ b/config/ompl_planning.yaml @@ -0,0 +1,150 @@ +planner_configs: + SBL: + type: geometric::SBL + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + EST: + type: geometric::EST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + LBKPIECE: + type: geometric::LBKPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + BKPIECE: + type: geometric::BKPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 + failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + KPIECE: + type: geometric::KPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 (0.0,1.] + failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + RRT: + type: geometric::RRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + RRTConnect: + type: geometric::RRTConnect + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + RRTstar: + type: geometric::RRTstar + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + delay_collision_checking: 1 # Stop collision checking as soon as C-free parent found. default 1 + TRRT: + type: geometric::TRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + max_states_failed: 10 # when to start increasing temp. default: 10 + temp_change_factor: 2.0 # how much to increase or decrease temp. default: 2.0 + min_temperature: 10e-10 # lower limit of temp change. default: 10e-10 + init_temperature: 10e-6 # initial temperature. default: 10e-6 + frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() + frountierNodeRatio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 + k_constant: 0.0 # value used to normalize expresssion. default: 0.0 set in setup() + PRM: + type: geometric::PRM + max_nearest_neighbors: 10 # use k nearest neighbors. default: 10 + PRMstar: + type: geometric::PRMstar + FMT: + type: geometric::FMT + num_samples: 1000 # number of states that the planner should sample. default: 1000 + radius_multiplier: 1.1 # multiplier used for the nearest neighbors search radius. default: 1.1 + nearest_k: 1 # use Knearest strategy. default: 1 + cache_cc: 1 # use collision checking cache. default: 1 + heuristics: 0 # activate cost to go heuristics. default: 0 + extended_fmt: 1 # activate the extended FMT*: adding new samples if planner does not finish successfully. default: 1 + BFMT: + type: geometric::BFMT + num_samples: 1000 # number of states that the planner should sample. default: 1000 + radius_multiplier: 1.0 # multiplier used for the nearest neighbors search radius. default: 1.0 + nearest_k: 1 # use the Knearest strategy. default: 1 + balanced: 0 # exploration strategy: balanced true expands one tree every iteration. False will select the tree with lowest maximum cost to go. default: 1 + optimality: 1 # termination strategy: optimality true finishes when the best possible path is found. Otherwise, the algorithm will finish when the first feasible path is found. default: 1 + heuristics: 1 # activates cost to go heuristics. default: 1 + cache_cc: 1 # use the collision checking cache. default: 1 + extended_fmt: 1 # Activates the extended FMT*: adding new samples if planner does not finish successfully. default: 1 + PDST: + type: geometric::PDST + STRIDE: + type: geometric::STRIDE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + use_projected_distance: 0 # whether nearest neighbors are computed based on distances in a projection of the state rather distances in the state space itself. default: 0 + degree: 16 # desired degree of a node in the Geometric Near-neightbor Access Tree (GNAT). default: 16 + max_degree: 18 # max degree of a node in the GNAT. default: 12 + min_degree: 12 # min degree of a node in the GNAT. default: 12 + max_pts_per_leaf: 6 # max points per leaf in the GNAT. default: 6 + estimated_dimension: 0.0 # estimated dimension of the free space. default: 0.0 + min_valid_path_fraction: 0.2 # Accept partially valid moves above fraction. default: 0.2 + BiTRRT: + type: geometric::BiTRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + temp_change_factor: 0.1 # how much to increase or decrease temp. default: 0.1 + init_temperature: 100 # initial temperature. default: 100 + frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() + frountier_node_ratio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 + cost_threshold: 1e300 # the cost threshold. Any motion cost that is not better will not be expanded. default: inf + LBTRRT: + type: geometric::LBTRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + epsilon: 0.4 # optimality approximation factor. default: 0.4 + BiEST: + type: geometric::BiEST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + ProjEST: + type: geometric::ProjEST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + LazyPRM: + type: geometric::LazyPRM + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + LazyPRMstar: + type: geometric::LazyPRMstar + SPARS: + type: geometric::SPARS + stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0 + sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25 + dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001 + max_failures: 1000 # maximum consecutive failure limit. default: 1000 + SPARStwo: + type: geometric::SPARStwo + stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0 + sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25 + dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001 + max_failures: 5000 # maximum consecutive failure limit. default: 5000 +arm_group: + default_planner_config: None + planner_configs: + - SBL + - EST + - LBKPIECE + - BKPIECE + - KPIECE + - RRT + - RRTConnect + - RRTstar + - TRRT + - PRM + - PRMstar + - FMT + - BFMT + - PDST + - STRIDE + - BiTRRT + - LBTRRT + - BiEST + - ProjEST + - LazyPRM + - LazyPRMstar + - SPARS + - SPARStwo + projection_evaluator: joints(joint1,joint2) + longest_valid_segment_fraction: 0.005 \ No newline at end of file diff --git a/config/ros_controllers.yaml b/config/ros_controllers.yaml new file mode 100644 index 0000000..0dbf1b1 --- /dev/null +++ b/config/ros_controllers.yaml @@ -0,0 +1,41 @@ +# Simulation settings for using moveit_sim_controllers +moveit_sim_hw_interface: + joint_model_group: arm_group + joint_model_group_pose: init_pose +# Settings for ros_control_boilerplate control loop +generic_hw_control_loop: + loop_hz: 300 + cycle_time_error_threshold: 0.01 +# Settings for ros_control hardware interface +hardware_interface: + joints: + - joint1 + - joint2 + - joint3 + - joint4 + - joint5 + - joint6 + sim_control_mode: 1 # 0: position, 1: velocity +# Publish all joint states +# Creates the /joint_states topic necessary in ROS +joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: 50 +controller_list: + - name: arm_controller + action_ns: follow_joint_trajectory + default: True + type: FollowJointTrajectory + joints: + - joint1 + - joint2 + - joint3 + - joint4 + - joint5 + - joint6 + - name: gripper_controller + action_ns: follow_joint_trajectory + default: True + type: FollowJointTrajectory + joints: + joint6 \ No newline at end of file diff --git a/config/sensors_3d.yaml b/config/sensors_3d.yaml new file mode 100644 index 0000000..a4bb13e --- /dev/null +++ b/config/sensors_3d.yaml @@ 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b/doc/images/melodic/mycobot_moveit_cartesian-path_linear-trajectory_comparison.png differ diff --git a/doc/index.md b/doc/index.md index 2f3424b..cedde2c 100644 --- a/doc/index.md +++ b/doc/index.md @@ -12,4 +12,7 @@ Contents <$endif> * [トラブルシューティング](moveit-tutorial_ja_trouble-shooting.md) * [クラス・関数リファレンス](moveit-tutorial_ja_reference-class-functions.md) -* [Python チュートリアル ](moveit-tutorial_ja_python.md) +* [Python チュートリアル](moveit-tutorial_ja_python.md) +<$if <$ROS_DISTRO>==melodic|<$ROS_DISTRO>==noetic> +* [実機の使用法](moveit-tutorial_ja_how-to-use-real-mycobot.md) +<$endif> \ No newline at end of file diff --git a/doc/moveit-tutorial_ja_how-to-use-real-mycobot.md b/doc/moveit-tutorial_ja_how-to-use-real-mycobot.md new file mode 100644 index 0000000..25e1543 --- /dev/null +++ b/doc/moveit-tutorial_ja_how-to-use-real-mycobot.md @@ -0,0 +1,143 @@ + +# 実機の使い方 + +実機と MoveIt! を使って +プログラムからロボットを操作する際の +実機の使い方を説明します． + + + +## myCobot280 の場合 + +### myCobot280 の固定 + +myCobot280がぐらつかないように，固定をしてください． + +- 土台となる板を用意し，myCobot をネジで固定． + +- 土台となる板自体がぐらつかないように，机と固定．または，大きな板を使用してください． + +![myCobot - how to fix a robot](images/melodic/mycobot-how-to-fix-a-robot.png) + +### myCobot280 のファームウェア更新 + +#### myStudio のダウンロード + +Windows PCが必要です． + +[MyStudio の リリースページ](https://github.com/elephantrobotics/MyStudio/releases) +にアクセスし， +最新の exe ファイルをダウンロード・実行してください． + +![myCobot - MyStudio startup screen](images/melodic/mycobot-mystudio-startup-screen.png) + +#### USB ドライバのインストール + +[SILICON LABS CP210x USB - UART ブリッジ VCP ドライバ](https://jp.silabs.com/developers/usb-to-uart-bridge-vcp-drivers?tab=downloads) +にアクセスし， +CP210x VCP Windows をダウンロードしてください． + +#### ファームウェアの更新 + +アーム先端の M5Stack Atom と胴体の M5Stack Basic のファームウェアを更新します． + +**M5Stack Atom のファームウェア更新** + +今回は，AtomMain の v4.1 をインストールします． + +MyStudio を立ち上げた後， +アーム先端の Atom とパソコンを接続してください． + +MyStudio の画面で USB Port の欄が ATOM になったはずです． + +![myCobot - MyStudio screen shows usb port is connected to Atom](images/melodic/mycobot-mystudio-screen-shows-usb-port-is-connected-to-atom.png) + +その状態で接続した後，Basic タブをクリックし，AtomMain の v4.1 を選択してインストールします． + +![myCobot - installation AtomMain v4.1 from MyStudio](images/melodic/mycobot-installation-atommain-v4-1-from-mystudio.png) + +**M5Stack Basic のファームウェア更新** + +今回は，minirobot の v1.0 をインストールします． + +MyStudio を立ち上げた後， +胴体の Basic とパソコンを接続してください． + +MyStudio の画面で USB Port の欄が BASIC になったはずです． + +![myCobot - MyStudio screen shows usb port is connected to Basic](images/melodic/mycobot-mystudio-screen-shows-usb-port-is-connected-to-basic.png) + +その状態で接続した後，Basic タブをクリックし，minirobot の v1.0 を選択してインストールします． + +![myCobot - installation minirobot v1.0 from MyStudio](images/melodic/mycobot-installation-minirobot-v1-0-from-mystudio.png) + +**動作確認（ティーチングデモ）** + +Basic とパソコンを接続し， +myCobot の画面 (miniroboFlow) から Maincontrol を選択してください． + +![myCobot - teaching demo: select Maincontrol from miniroboFlow](images/melodic/mycobot-teaching-demo-1-select-maincontrol-from-miniroboflow.png) + +動作のティーチングを行うために，Record を選択してください． + +![myCobot - teaching demo: select record mode](images/melodic/mycobot-teaching-demo-2-select-record-mode.png) + +Recording to Ram/Flash? と聞かれるので，Ram を選択してください． + +![myCobot - teaching demo: select Ram from record mode](images/melodic/mycobot-teaching-demo-3-select-ram-from-record-mode.png) + +同様に，Play で教えた動作を再生します． + +### myCobot280 を Transponder モードにする + +以降，パソコンから myCobot に指令を送る際には， +myCobot の画面 (miniroboFlow) から Transponder を選択してください． + +![myCobot - Transponder mode](images/melodic/mycobot-transponder-mode.png) + +### dialout グループへのユーザ追加 + +シリアルポートにアクセス権を持つ， +dialoutグループにユーザを追加します． + +**ターミナル** + +```bash +sudo adduser $USER dialout +``` + +### pymycobot (Python API) のインストール + +myCobot を Python で動かすための API をインストールします． + +**ターミナル** + +```bash +pip install pymycobot --user +``` + +**動作確認** + +```python +In [1]: from pymycobot.mycobot import MyCobot +In [2]: mycobot=MyCobot('/dev/ttyUSB0') +``` + +```python +In [3]: mycobot.set_color(0,0,255) +``` + +![myCobot - pymycobot API: mycobot.set_color(0,0,255)](images/melodic/mycobot-pymycobot-api-setcolor-0-0-255.png) + +```python +In [4]: mycobot.set_color(0,255,255) +``` + +![myCobot - pymycobot API: mycobot.set_color(255,0,255)](images/melodic/mycobot-pymycobot-api-setcolor-0-255-255.png) + +```python +In [5]: from pymycobot.genre import Angle +In [6]: mycobot.send_angles([0,0,0,0,0,0], 80) +``` + +![myCobot - pymycobot API: mycobot.send_angles([0,0,0,0,0,0], 80)](images/melodic/mycobot-pymycobot-api-send-angles-to-reset-pose.png) diff --git a/doc/moveit-tutorial_ja_introduction.md b/doc/moveit-tutorial_ja_introduction.md index 49eea7e..010c7ad 100644 --- a/doc/moveit-tutorial_ja_introduction.md +++ b/doc/moveit-tutorial_ja_introduction.md @@ -52,6 +52,9 @@ MoveIt! Commander のプログラミングインタフェースには Python や - [トラブルシューティング](moveit-tutorial_ja_trouble-shooting.md) - [クラス・関数リファレンス](moveit-tutorial_ja_reference-class-functions.md) - [Python チュートリアル](moveit-tutorial_ja_python.md) +<$if <$ROS_DISTRO>==melodic|<$ROS_DISTRO>==noetic> +- [実機の使用法](moveit-tutorial_ja_how-to-use-real-mycobot.md) +<$endif> 本チュートリアルのロボットプログラミングではプログラム言語 Python を使いますが， Python の知識がなくてもコマンドやプログラムを実行できるように構成されています． diff --git a/doc/moveit-tutorial_ja_robot-python_advanced.md b/doc/moveit-tutorial_ja_robot-python_advanced.md index 33ba28f..cb0b10c 100644 --- a/doc/moveit-tutorial_ja_robot-python_advanced.md +++ b/doc/moveit-tutorial_ja_robot-python_advanced.md @@ -1,6 +1,7 @@ # 発展的なロボットプログラミング +<$if <$ROS_DISTRO>==indigo|<$ROS_DISTRO>==kinetic|<$ROS_DISTRO>==melodic> 本章は NEXTAGE OPEN ロボットシミュレータを対象にしてチュートリアルを進めてゆきます． NEXTAGE OPEN の下記ソフトウェアを既に起動した状態で @@ -8,7 +9,14 @@ NEXTAGE OPEN の下記ソフトウェアを既に起動した状態で - NEXTAGE OPEN の Gazebo シミュレータもしくは hypsys(RTM) シミュレータ - NEXTAGE OPEN の MoveIt! +<$elif <$ROS_DISTRO>==noetic> +本章は myCobot ロボットシミュレータを対象にしてチュートリアルを進めてゆきます． +myCobot の下記ソフトウェアを既に起動した状態で +本章の各プログラムを実行してください． + +- myCobot の MoveIt! +<$endif> ## プログラム制御フローツールとロボットプログラミング @@ -27,6 +35,8 @@ NEXTAGE OPEN の下記ソフトウェアを既に起動した状態で 本文中の `if` 文の条件部分で関数 `question_yn()` を呼び出して 返ってきた `True`/`False` により「動作の実行」と「スキップ」の分岐を行っています． +<$if <$ROS_DISTRO>==indigo|<$ROS_DISTRO>==kinetic|<$ROS_DISTRO>==melodic> + ``` $ rosrun tork_moveit_tutorial nextage_moveit_tutorial_poses_ifqyn.py ``` @@ -84,6 +94,66 @@ if __name__ == '__main__': ``` +<$elif <$ROS_DISTRO>==noetic> + +```bash +$ rosrun tork_moveit_tutorial mycobot_moveit_tutorial_poses_ifqyn.py +``` + +**mycobot_moveit_tutorial_poses_ifqyn.py** +```python +#!/usr/bin/env python + +import sys, copy +import rospy + +from moveit_commander import MoveGroupCommander +from geometry_msgs.msg import Pose + +from tork_moveit_tutorial import init_node, question_yn + + +if __name__ == '__main__': + + init_node() + group = MoveGroupCommander("arm_group") + + # Pose Target 1 + rospy.loginfo( "Start Pose Target 1") + pose_target_1 = Pose() + + pose_target_1.position.x = 0.1 + pose_target_1.position.y = -0.1 + pose_target_1.position.z = 0.1 + pose_target_1.orientation.x = 0.0 + pose_target_1.orientation.y = -0.707 + pose_target_1.orientation.z = 0.0 + pose_target_1.orientation.w = 0.707 + + rospy.loginfo( "Set Target to Pose:\n{}".format( pose_target_1 ) ) + group.set_pose_target( pose_target_1 ) + + if question_yn( "Start moving to target 1 ?" ): + group.go() + + # Pose Target 2 + rospy.loginfo( "Start Pose Target 2") + pose_target_2 = Pose() + + pose_target_2.position.x = 0.1 + pose_target_2.position.y = -0.1 + pose_target_2.position.z = 0.2 + pose_target_2.orientation.y = -1.0 + + rospy.loginfo( "Set Target to Pose:\n{}".format( pose_target_2 ) ) + group.set_pose_target( pose_target_2 ) + + if question_yn( "Start moving to target 2 ?" ): + group.go() +``` + + +<$endif> ### 繰り返しとロボット動作 - for @@ -93,6 +163,8 @@ if __name__ == '__main__': `for` 文で動作計画と実行を5回繰り返し， 繰り返すごとに右腕の目標姿勢のY座標を `step` 変数で指定した長さ横に移動します． +<$if <$ROS_DISTRO>==indigo|<$ROS_DISTRO>==kinetic|<$ROS_DISTRO>==melodic> + ``` $ rosrun tork_moveit_tutorial nextage_moveit_tutorial_poses_for.py ``` @@ -143,6 +215,59 @@ if __name__ == '__main__': ``` +<$elif <$ROS_DISTRO>==noetic> + +```bash +rosrun tork_moveit_tutorial mycobot_moveit_tutorial_poses_for.py +``` + +**mycobot_moveit_tutorial_poses_for.py** + +```python +#!/usr/bin/env python + +import sys, copy +import rospy + +from moveit_commander import MoveGroupCommander +from geometry_msgs.msg import Pose + +from tork_moveit_tutorial import init_node, question_yn + + +if __name__ == '__main__': + + init_node() + group = MoveGroupCommander("arm_group") + + # Pose Target 1 + rospy.loginfo( "Start Pose Target 1") + pose_target_1 = Pose() + + pose_target_1.position.x = 0.15 + pose_target_1.position.y = 0.0 + pose_target_1.position.z = 0.1 + pose_target_1.orientation.x = 0.0 + pose_target_1.orientation.y = -1.0 + pose_target_1.orientation.z = 0.0 + pose_target_1.orientation.w = 0.0 + + step = -0.03 + + for i in range(5): + pose_target_1.position.y = i * step + rospy.loginfo( "Set Target to Pose No.{}:\n{}".format( i, pose_target_1 ) ) + + group.set_pose_target( pose_target_1 ) + + if question_yn( "Start moving to target No.{} ?".format( i ) ): + group.go() + else: + rospy.loginfo( "Skipped Pose No.{}".format( i ) ) + +``` + +<$endif> ## プログラムのタイミングを図る @@ -247,6 +372,8 @@ rospy.spin() 下記プログラムでは次のことを行っています． +<$if <$ROS_DISTRO>==indigo|<$ROS_DISTRO>==kinetic|<$ROS_DISTRO>==melodic> + - `pose_target_1` にロボット右腕の初期姿勢を定義 - ログメッセージを表示してから `rospy.sleep(5.0)` で5秒休止 - `rate = rospy.Rate(0.2)` で 0.2 [Hz] つまり5秒に1回の時間間隔を設定 @@ -313,20 +440,87 @@ if __name__ == '__main__': ``` +<$elif <$ROS_DISTRO>==noetic> + +- `pose_target_1` にロボット右腕の初期姿勢を定義 +- ログメッセージを表示してから `rospy.sleep(5.0)` で5秒休止 +- `rate = rospy.Rate(0.2)` で 0.2 [Hz] つまり5秒に1回の時間間隔を設定 +- `while not rospy.is_shutdown():` ノードが終了指定ない限り次のループを反復 + - `group.set_pose_target( pose_target_1 )` で目標姿勢を設定 + - `group.go()` で動作計画・実行 + - 目標姿勢の位置のY座標を `step` だけずらす + - 目標姿勢の位置のY座標が -0.15 [m] よりも小さくなったら 0.0 [m] を代入 + - `rate.sleep()` で次のタイミングが来るまで休止 + +``` +$ rosrun tork_moveit_tutorial mycobot_moveit_tutorial_poses_rate.py +``` + +**mycobot_moveit_tutorial_poses_rate.py** + +```python +#!/usr/bin/env python + +import sys, copy +import rospy + +from moveit_commander import MoveGroupCommander +from geometry_msgs.msg import Pose + +from tork_moveit_tutorial import init_node + + +if __name__ == '__main__': + + init_node() + group = MoveGroupCommander("arm_group") + + # Pose Target 1 + pose_target_1 = Pose() + + pose_target_1.position.x = 0.15 + pose_target_1.position.y = 0.0 + pose_target_1.position.z = 0.1 + pose_target_1.orientation.x = 0.0 + pose_target_1.orientation.y = -1.0 + pose_target_1.orientation.z = 0.0 + pose_target_1.orientation.w = 0.0 + + rospy.loginfo( "Start Move Loop / Ctrl-C to Stop \nWaiting 5 seconds" ) + rospy.sleep(5.0) + + step = -0.01 + + rate = rospy.Rate(0.2) + while not rospy.is_shutdown(): + + rospy.loginfo( "Set Target to Pose:\n{}".format( pose_target_1 ) ) + group.set_pose_target( pose_target_1 ) + group.plan() + group.go() + + pose_target_1.position.y += step + if pose_target_1.position.y < -0.15: + pose_target_1.position.y = 0.0 + + rospy.loginfo( "Waiting Next... / Ctrl-C to Stop" ) + rate.sleep() + +``` + +<$endif> ## より複雑なロボット動作計画 ### 動作アームを指定する -<$ifeq <$ROS_DISTRO>|indigo> +<$if <$ROS_DISTRO>==indigo> これまで NEXTAGE OPEN や Baxter Research Robot の動作プログラムの例では 「右腕」を動かしていました． これらのロボットは双腕ですから「右腕」だけでなく「左腕」や「両腕」を動かすこともできます． -<$endif> - -<$ifneq <$ROS_DISTRO>|indigo> +<$elif <$ROS_DISTRO>==kinetic|<$ROS_DISTRO>==melodic> これまで NEXTAGE OPEN や duaro の動作プログラムの例では NEXTAGE OPEN では「右腕」( right_arm ) を， @@ -334,9 +528,16 @@ duaro では「上側の腕」(upper_arm) を動かしていました． これらのロボットは双腕ですから「右腕」や「上側の腕」だけでなく 「左腕」や「下側の腕」，「両腕」を動かすこともできます． +<$elif <$ROS_DISTRO>==noetic> + +duaro の動作プログラムの例では +duaro では「上側の腕」(upper_arm) を動かしていました． +これらのロボットは双腕ですから「上側の腕」だけでなく +「下側の腕」，「両腕」を動かすこともできます． + <$endif> -<$ifeq <$ROS_DISTRO>|indigo> +<$if <$ROS_DISTRO>==indigo> #### 左腕を動かす @@ -349,9 +550,7 @@ group = MoveGroupCommander("right_arm") # 変更前（右腕） group = MoveGroupCommander("left_arm") # 変更後（左腕） ``` -<$endif> - -<$ifneq <$ROS_DISTRO>|indigo> +<$elif <$ROS_DISTRO>==kinetic|<$ROS_DISTRO>==melodic> #### もう一方の腕を動かす @@ -373,8 +572,23 @@ group = MoveGroupCommander("upper_arm") # 変更前（上側の腕） group = MoveGroupCommander("lower_arm") # 変更後（下側の腕） ``` +<$elif <$ROS_DISTRO>==noetic> + +#### もう一方の腕を動かす + +KHI duaro の「下側の腕」を動かすには次の変更を行います． + +- 動作グループを `lower_arm` に変更 +```python +group = MoveGroupCommander("upper_arm") # 変更前（上側の腕） +↓ +group = MoveGroupCommander("lower_arm") # 変更後（下側の腕） +``` + <$endif> +<$if <$ROS_DISTRO>==indigo|<$ROS_DISTRO>==kinetic|<$ROS_DISTRO>==melodic> + 下記プログラムは NEXTAGE OPEN の左腕を動かすプログラムの例です． 右腕のターゲット姿勢のままでは左腕の動作にはきつくなるので ターゲット位置のY座標の正負（左右）を反転しています． @@ -434,9 +648,73 @@ if __name__ == '__main__': ``` +<$elif <$ROS_DISTRO>==noetic> + +下記プログラムは duaro の左腕を動かすプログラムの例です． +右腕のターゲット姿勢のままでは左腕の動作にはきつくなるので +ターゲット位置のY座標の正負（左右）を反転しています． + +```bash +rosrun tork_moveit_tutorial duaro_moveit_tutorial_poses_lower_arm.py +``` + +**duaro_moveit_tutorial_poses_lower_arm.py** + +```python +#!/usr/bin/env python + +import sys, copy +import rospy + +from moveit_commander import MoveGroupCommander +from geometry_msgs.msg import Pose + +from tork_moveit_tutorial import init_node, question_yn + + +if __name__ == '__main__': + + init_node() + + group = MoveGroupCommander("lower_arm") + + # Pose Target 1 + rospy.loginfo( "Start Pose Target 1") + pose_target_1 = Pose() + + pose_target_1.position.x = 0.0 + pose_target_1.position.y = 0.55 + pose_target_1.position.z = 1.0 + pose_target_1.orientation.x = 0.0 + pose_target_1.orientation.y = 0.0 + pose_target_1.orientation.z = 0.707 + pose_target_1.orientation.w = 0.707 + + rospy.loginfo( "Set Target to Pose:\n{}".format( pose_target_1 ) ) + group.set_pose_target( pose_target_1 ) + group.go() + + # Pose Target 2 + rospy.loginfo( "Start Pose Target 2") + pose_target_2 = Pose() + + pose_target_2.position.x = 0.55 + pose_target_2.position.y = 0 + pose_target_2.position.z = 1.05 + pose_target_2.orientation.z = 0.707 + pose_target_2.orientation.w = 0.707 + + rospy.loginfo( "Set Target to Pose:\n{}".format( pose_target_2 ) ) + group.set_pose_target( pose_target_2 ) + group.go() +``` + +<$endif> #### 両腕を動かす +<$if <$ROS_DISTRO>==indigo|<$ROS_DISTRO>==kinetic|<$ROS_DISTRO>==melodic> + 前項目で動作グループに `left_arm` を指定して左腕を動かしました． 他に指定できる「動作グループ」に何があるのかは動作プログラムの例を実行したときに 表示されるようにしてあります． @@ -465,7 +743,43 @@ upperbody 双腕のロボットで「両腕」を動かすには「両腕のグループ」を使います． 上記の出力結果から NEXTAGE OPEN では `botharms` の動作グループがあります． -<$ifeq <$ROS_DISTRO>|indigo> +<$elif <$ROS_DISTRO>==noetic> + +前項目で動作グループに `lower_arm` を指定して左腕を動かしました． +他に指定できる「動作グループ」に何があるのかは動作プログラムの例を実行したときに +表示されるようにしてあります． + +下の出力例は duaro の場合のもので `lower_arm` や `upper_arm` の他に +`botharms` や `lower_arm_tool` , `upper_arm_tool` などがあるのが分かります． + +```bash +$ rosrun tork_moveit_tutorial duaro_moveit_tutorial_poses_lower_arm.py +[ INFO] [WallTime: 1665371044.681512363] [node:/moveit_python_wrappers_1665371044674037973] [func:core::RobotModel::buildModel]: Loading robot model 'khi_duaro'... +[ INFO] [WallTime: 1665371044.682251570] [node:/moveit_python_wrappers_1665371044674037973] [func:core::JointModel* moveit::core::RobotModel::constructJointModel]: No root/virtual joint specified in SRDF. Assuming fixed joint +[ WARN] [WallTime: 1665371044.786909727] [node:/moveit_python_wrappers_1665371044674037973] [func:core::SolverAllocatorFn kinematics_plugin_loader::KinematicsPluginLoader::getLoaderFunction]: Kinematics solver doesn't support #attempts anymore, but only a timeout. +Please remove the parameter '/robot_description_kinematics/lower_arm/kinematics_solver_attempts' from your configuration. +[ WARN] [WallTime: 1665371044.797097737] [node:/moveit_python_wrappers_1665371044674037973] [func:KinematicsBase::initialize]: IK plugin for group 'lower_arm' relies on deprecated API. Please implement initialize(RobotModel, ...). +[ WARN] [WallTime: 1665371044.800244786] [node:/moveit_python_wrappers_1665371044674037973] [func:KinematicsBase::initialize]: IK plugin for group 'upper_arm' relies on deprecated API. Please implement initialize(RobotModel, ...). +[INFO] [WallTime: 1665371044.806787] [node:/commander_example_4439_1665371044520] [func:init_node]: Move Groups defined in the robot : +botharms +lower_arm +lower_arm_tool +upper_arm +upper_arm_tool +[ INFO] [WallTime: 1665371044.823875247] [node:/moveit_python_wrappers_1665371044674037973] [func:core::RobotModel::buildModel]: Loading robot model 'khi_duaro'... +[ INFO] [WallTime: 1665371044.823899703] [node:/moveit_python_wrappers_1665371044674037973] [func:core::JointModel* moveit::core::RobotModel::constructJointModel]: No root/virtual joint specified in SRDF. Assuming fixed joint +[ WARN] [WallTime: 1665371044.900999804] [node:/moveit_python_wrappers_1665371044674037973] [func:KinematicsBase::initialize]: IK plugin for group 'lower_arm' relies on deprecated API. Please implement initialize(RobotModel, ...). +[ WARN] [WallTime: 1665371044.904525028] [node:/moveit_python_wrappers_1665371044674037973] [func:KinematicsBase::initialize]: IK plugin for group 'upper_arm' relies on deprecated API. Please implement initialize(RobotModel, ...). +[ INFO] [WallTime: 1665371046.074714832] [node:/moveit_python_wrappers_1665371044674037973] [func:planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::MoveGroupInterfaceImpl]: Ready to take commands for planning group lower_arm. +.. +``` + +双腕のロボットで「両腕」を動かすには「両腕のグループ」を使います． +上記の出力結果から duaro では `botharms` の動作グループがあります． + +<$endif> + +<$if <$ROS_DISTRO>==indigo> 両腕のグループの名称は各ロボットで次のようになっていて `_` の有無の違いがあるので各ロボットで気をつけて指定します． @@ -479,9 +793,7 @@ group = MoveGroupCommander("botharms") group = MoveGroupCommander("both_arms") ``` -<$endif> - -<$ifneq <$ROS_DISTRO>|indigo> +<$elif <$ROS_DISTRO>==kinetic|<$?ROS_DISTRO>melodic> 両腕のグループの名称は NEXTAGE OPEN と KHI duaro は同じ `botharms` です． 他のロボットではこの名称は異なっている場合もあるのでロボットごとに名称を確認して適切な名称を指定します． @@ -493,6 +805,8 @@ group = MoveGroupCommander("botharms") <$endif> +<$if <$ROS_DISTRO>==indigo|<$ROS_DISTRO>==kinetic|<$ROS_DISTRO>==melodic> + また，`group` が両腕になるので `set_pose_target()` にターゲットポーズに加えて エンドエフェクタのリンク名を渡して明示的に「右腕」と「左腕」を区別します． @@ -510,7 +824,7 @@ group.go() 両腕を同時に動作させるプログラム例を下に示します． ``` -$ rosrun tork_moveit_tutorial nextage_moveit_tutorial_poses_ifqyn.py +$ rosrun tork_moveit_tutorial nextage_moveit_tutorial_poses_botharms.py ``` **nextage_moveit_tutorial_poses_botharms.py** @@ -612,6 +926,143 @@ if __name__ == '__main__': ``` +<$elif <$ROS_DISTRO>==noetic> + +また，`group` が両腕になるので `set_pose_target()` にターゲットポーズに加えて +エンドエフェクタのリンク名を渡して明示的に「上の腕」と「下の腕」を区別します． + +```python +group.set_pose_target( pose_target_uarm_1, 'upper_link_j4' ) +group.set_pose_target( pose_target_larm_1, 'lower_link_j4' ) +``` + +あとは片腕の動作計画と実行の手順と同じです． + +```python +group.go() +``` + +両腕を同時に動作させるプログラム例を下に示します． + +``` +$ rosrun tork_moveit_tutorial duaro_moveit_tutorial_poses_botharms.py +``` + +**duaro_moveit_tutorial_poses_botharms.py** + +```python +#!/usr/bin/env python + +import sys, copy, os +import rospy + +from moveit_commander import MoveGroupCommander +from geometry_msgs.msg import Pose + +from tork_moveit_tutorial import init_node, question_yn, get_ros_version, normalize_orientation + + +if __name__ == '__main__': + + init_node() + + group = MoveGroupCommander("botharms") + + # Pose Target 1 + pose_target_uarm_1 = Pose() + pose_target_uarm_1.position.x = -0.4 + pose_target_uarm_1.position.y = 0.4 + pose_target_uarm_1.position.z = 1.0 + pose_target_uarm_1.orientation.x = 0.0 + pose_target_uarm_1.orientation.y = 0.0 + pose_target_uarm_1.orientation.z = 0.707 + pose_target_uarm_1.orientation.w = 0.707 + +# ros_version = get_ros_version() + ros_version = rospy.get_param('/rosdistro') + ros_version = ros_version.rstrip('\n') +# ros_version = os.environ["ROS_DISTRO"] + + if ros_version == 'kinetic': + pose_target_uarm_1 = normalize_orientation( pose_target_uarm_1 ) + + rospy.loginfo( "Right Arm Pose Target 1:\n{}".format( pose_target_uarm_1 ) ) + + pose_target_larm_1 = Pose() + pose_target_larm_1.position.x = pose_target_uarm_1.position.x * -1.0 + pose_target_larm_1.position.y = pose_target_uarm_1.position.y + pose_target_larm_1.position.z = pose_target_uarm_1.position.z + pose_target_larm_1.orientation.x = pose_target_uarm_1.orientation.x + pose_target_larm_1.orientation.y = pose_target_uarm_1.orientation.y + pose_target_larm_1.orientation.z = pose_target_uarm_1.orientation.z + pose_target_larm_1.orientation.w = pose_target_uarm_1.orientation.w + + if ros_version == 'kinetic': + pose_target_larm_1 = normalize_orientation( pose_target_larm_1 ) + + rospy.loginfo( "Left Arm Pose Target 1:\n{}".format( pose_target_larm_1 ) ) + + group.set_pose_target( pose_target_uarm_1, 'upper_link_j4' ) + group.set_pose_target( pose_target_larm_1, 'lower_link_j4' ) + group.plan() + group.go() + + # Pose Target 2 + pose_target_uarm_2 = Pose() + pose_target_uarm_2.position.x = -0.5 + pose_target_uarm_2.position.y = 0.0 + pose_target_uarm_2.position.z = 1.0 + + if ros_version == 'kinetic': + pose_target_uarm_2 = normalize_orientation( pose_target_uarm_2 ) + + rospy.loginfo( "Right Arm Pose Target 2:\n{}".format( pose_target_uarm_2 ) ) + + pose_target_larm_2 = Pose() + pose_target_larm_2.position.x = pose_target_uarm_2.position.x * -1.0 + pose_target_larm_2.position.y = pose_target_uarm_2.position.y + pose_target_larm_2.position.z = pose_target_uarm_2.position.z + pose_target_larm_2.orientation.x = pose_target_uarm_2.orientation.x + pose_target_larm_2.orientation.y = pose_target_uarm_2.orientation.y + pose_target_larm_2.orientation.z = pose_target_uarm_2.orientation.z + pose_target_larm_2.orientation.w = pose_target_uarm_2.orientation.w + + if ros_version == 'kinetic': + pose_target_larm_2 = normalize_orientation( pose_target_larm_2 ) + + rospy.loginfo( "Left Arm Pose Target 2:\n{}".format( pose_target_larm_2 ) ) + + # Move to Pose Target 1 + rospy.loginfo( "Move to Pose Target 1" ) + group.set_pose_target( pose_target_uarm_1, 'upper_link_j4' ) + group.set_pose_target( pose_target_larm_1, 'lower_link_j4' ) + group.go() + + # Move to Pose Target 2 + rospy.loginfo( "Move to Pose Target 2" ) + group.set_pose_target( pose_target_uarm_2, 'upper_link_j4' ) + group.set_pose_target( pose_target_larm_2, 'lower_link_j4' ) + group.go() + + # Pose Target 1 & 2 Mixture + rospy.loginfo( "Move to Pose Target Right:1 Left:2" ) + group.set_pose_target( pose_target_uarm_1, 'upper_link_j4' ) + group.set_pose_target( pose_target_larm_2, 'lower_link_j4' ) + group.go() + + rospy.loginfo( "Move to Pose Target Right:2 Left:1" ) + group.set_pose_target( pose_target_uarm_2, 'upper_link_j4' ) + group.set_pose_target( pose_target_larm_1, 'lower_link_j4' ) + group.go() + + # Back to Pose Target 1 + rospy.loginfo( "Go Back to Pose Target 1" ) + group.set_pose_target( pose_target_uarm_1, 'upper_link_j4' ) + group.set_pose_target( pose_target_larm_1, 'lower_link_j4' ) + group.go() +``` + +<$endif> ### 姿勢の参照座標を指定する @@ -625,6 +1076,8 @@ if __name__ == '__main__': - `set_pose_reference_frame()` を用いる - `set_pose_reference_frame()` に参照フレーム名を渡して実行することで動作計画の参照フレーム設定を変更する． +<$if <$ROS_DISTRO>==indigo|<$ROS_DISTRO>==kinetic|<$ROS_DISTRO>==melodic> + 下方にある動作プログラム例 **nextage_moveit_tutorial_poses_relative.py** では 左腕のエンドエフェクタリンクである `LARM_JOINT5_Link` を参照リンクとしています． `LARM_JOINT5_Link` のリンク座標系上で @@ -641,6 +1094,26 @@ if __name__ == '__main__': `Pose` 型の `target_pose` を渡すだけで リンクに相対的な位置・姿勢の目標を指定し動作計画と実行を行います． +<$elif <$ROS_DISTRO>==noetic> + +下方にある動作プログラム例 **duaro_moveit_tutorial_poses_relative.py** では +下の腕のエンドエフェクタリンクである `lower_link_j4` を参照リンクとしています． +`lower_link_j4` のリンク座標系上で + +- 位置 : `[ 0.4, 0.0, 0.0 ]` +- 姿勢 : クォータニオン表現で `[ 0.0, 0.0, 0.0, 1.0 ]`（＝回転無し） + +になるように目標姿勢を設定し，2つの方法について動作計画と実行を行っています． + +まず `PoseStamped` 型を利用して参照リンク `/lower_link_j4` の情報を一緒に変数 +`target_posestamped` で渡すことでリンクに相対的な位置・姿勢の目標を指定し動作計画と実行を行います． + +次に `set_pose_reference_frame()` で参照リンクを `/lower_link_j4` に設定して +`Pose` 型の `target_pose` を渡すだけで +リンクに相対的な位置・姿勢の目標を指定し動作計画と実行を行います． + +<$endif> + また逐次 `group.get_pose_reference_frame()` で現状の参照リンクフレームを取得して ログ表示しています． @@ -649,38 +1122,34 @@ if __name__ == '__main__': `get_current_pose()` を利用して `initial_pose = group.get_current_pose()` として姿勢の取得をしています． -<$ifeq <$ROS_DISTRO>|indigo> +<$if <$ROS_DISTRO>==indigo> ![Nextage - Gazebo / Poses Relative](images/nextage_gazebo_poses_relative.png) -<$endif> - -<$ifneq <$ROS_DISTRO>|indigo> +<$elif <$ROS_DISTRO>==kinetic|<$ROS_DISTRO>==melodic> ![Nextage - Gazebo / Poses Relative](images/kinetic/nextage_gazebo_poses_relative.png) <$endif> -<$ifeq <$ROS_DISTRO>|indigo> +<$if <$ROS_DISTRO>==indigo> ![Nextage - MoveIt! / Poses Relative](images/nextage_moveit_poses_relative.png) -<$endif> - -<$ifeq <$ROS_DISTRO>|kinetic> +<$elif <$ROS_DISTRO>==kinetic> ![Nextage - MoveIt! / Poses Relative](images/kinetic/nextage_moveit_poses_relative.png) -<$endif> - -<$ifeq <$ROS_DISTRO>|melodic> +<$elif <$ROS_DISTRO>==melodic> ![Nextage - MoveIt! / Poses Relative](images/melodic/nextage_moveit_poses_relative.png) <$endif> -``` -$ rosrun tork_moveit_tutorial nextage_moveit_tutorial_poses_relative.py +<$if <$ROS_DISTRO>==indigo|<$ROS_DISTRO>==kinetic|<$ROS_DISTRO>==melodic> + +```bash +rosrun tork_moveit_tutorial nextage_moveit_tutorial_poses_relative.py ``` **nextage_moveit_tutorial_poses_relative.py** @@ -770,6 +1239,99 @@ if __name__ == '__main__': ``` +<$elif <$ROS_DISTRO>==noetic> + +```bash +rosrun tork_moveit_tutorial duaro_moveit_tutorial_poses_relative.py +``` + +**duaro_moveit_tutorial_poses_relative.py** + +```python +#!/usr/bin/env python + +import sys, copy +import rospy + +from moveit_commander import MoveGroupCommander +from geometry_msgs.msg import Pose, PoseStamped + +from tork_moveit_tutorial import init_node + + +if __name__ == '__main__': + + init_node() + + # Preparing Lower Arm + rospy.loginfo( "Preparing Lower Arm..." ) + larmg = MoveGroupCommander("lower_arm") + larm_init_pose = Pose() + larm_init_pose.position.x = 0.1 + larm_init_pose.position.y = 0.5 + larm_init_pose.position.z = 1.0 + larm_init_pose.orientation.x = 0.0 + larm_init_pose.orientation.y = 0.0 + larm_init_pose.orientation.z = 0.707 + larm_init_pose.orientation.w = 0.707 + larmg.set_pose_target(larm_init_pose) + larmg.go() + + + # Upper Arm + group = MoveGroupCommander("upper_arm") + + initial_reference_frame = group.get_pose_reference_frame() + rospy.loginfo( "Initial Reference Frame: {}".format( initial_reference_frame ) ) + + initial_pose = group.get_current_pose() + rospy.loginfo( "Initial Pose:\n{}".format( initial_pose ) ) + + # Relative Target Pose + target_pose = Pose() + target_pose.position.x = 0.2 + target_pose.orientation.w = 1.0 + + # Relative Target with PoseStamped + rospy.loginfo( "Using PoseStamped" ) + + target_posestamped = PoseStamped() + target_posestamped.pose.position.x = 0.2 + target_posestamped.pose.orientation.w = 1.0 + target_posestamped.header.frame_id = '/lower_link_j4' + target_posestamped.header.stamp = rospy.Time.now() + + rospy.loginfo( "Target Pose:\n{}".format( target_posestamped ) ) + group.set_pose_target( target_posestamped ) + group.go() + + rospy.loginfo( "Current Reference Frame: {}".format( group.get_pose_reference_frame() ) ) + + # Go Back to Initial Pose + group.set_pose_target( initial_pose.pose ) + group.go() + + # Relative Target with set_pose_reference_frame + rospy.loginfo( "Using set_pose_refercence_frame() and Pose" ) + + group.set_pose_reference_frame( '/lower_link_j4' ) + rospy.loginfo( "Current Reference Frame: {}".format( group.get_pose_reference_frame() ) ) + rospy.loginfo( "Target Pose:\n{}".format( target_pose ) ) + + group.set_pose_target( target_pose ) + group.go() + + # Reset Pose Reference Frame + group.set_pose_reference_frame( initial_reference_frame ) + rospy.loginfo( "Current Reference Frame: {}".format( group.get_pose_reference_frame() ) ) + + # Go Back to Initial Pose + rospy.loginfo( "Go Back to Initial Pose..." ) + group.set_pose_target( initial_pose ) + group.go() +``` + +<$endif> ### 座標系フレーム間の相対姿勢を取得する - tf diff --git a/doc/moveit-tutorial_ja_robot-python_basic.md b/doc/moveit-tutorial_ja_robot-python_basic.md index 2a3ceaa..20b851f 100644 --- a/doc/moveit-tutorial_ja_robot-python_basic.md +++ b/doc/moveit-tutorial_ja_robot-python_basic.md @@ -13,7 +13,9 @@ それらを起動したターミナルとは別に新たにターミナルを起動して ROS の環境設定と対話的にプログラミングを行えるように準備します． -#### NEXTAGE OPEN の場合 +<$if <$ROS_DISTRO>==indigo||<$ROS_DISTRO>==kinetic||<$ROS_DISTRO>==melodic> + +### NEXTAGE OPEN の場合 「シミュレータと MoveIt! の起動」の 「[NEXTAGE OPEN - hrpsys シミュレータ](moveit-tutorial_ja_robot-simulator.md#start-nextage-hrpsys-simulator)」もしくは @@ -29,8 +31,7 @@ $ source /opt/ros/<$ROS_DISTRO>/setup.bash $ rosrun tork_moveit_tutorial demo.py ``` - -### 特定の関節を動かす +#### 特定の関節を動かす プログラムから関節を動かすなどをするために「右腕」の `group` を作成します． 次の `In[1]:` 以下につづくプログラムを入力して [Enter/Return] キーを押して @@ -121,7 +122,7 @@ Out[10]: True ``` -### 腕全体の関節を動かす +#### 腕全体の関節を動かす `set_joint_value_target()` は1つの関節だけでなく 腕全体の関節角度目標値のリストを渡すことで複数の関節を同時に動かすこともできます． @@ -137,7 +138,7 @@ Out[12]: True NEXTAGE OPEN ロボットは初期姿勢に戻っていることと思います． -### 手先の位置を指定して動かす +#### 手先の位置を指定して動かす 手先（エンドエフェクタリンク）の位置を指定して腕を動かしてみます． @@ -169,7 +170,7 @@ Out[22]: True 手先の「姿勢」は思わぬ方を向いていることもあります． -### 手先の姿勢を指定して動かす +#### 手先の姿勢を指定して動かす 手先の姿勢を指定してロボットを動かしてみます． @@ -196,7 +197,7 @@ Out[32]: True [ INFO] [1515668193.145149146, 166.319999999]: ABORTED: Solution found but controller failed during execution ``` -### 手先の位置と姿勢を指定して動かす +#### 手先の位置と姿勢を指定して動かす 手先の位置と姿勢を同時に指定して腕を動かすことができます． @@ -347,7 +348,7 @@ Out[70]: True にて説明します． -### 直線補間軌道でロボットを動かす +#### 直線補間軌道でロボットを動かす `group.plan()` や `group.go()` を用いた動作計画では動作開始姿勢と目標姿勢の間の動作は 各関節の開始角度と目標角度の間を補間した動作として計画されます． @@ -373,7 +374,7 @@ Out[70]: True を通して学習します． -### 連続した指令をロボットに送る +#### 連続した指令をロボットに送る ロボットの複数の異なる姿勢を指示して動作計画と実行を行います． @@ -446,7 +447,7 @@ Out[83]: True ``` -### 四角形や円に沿ってエンドエフェクタを動かす +#### 四角形や円に沿ってエンドエフェクタを動かす エンドエフェクタを四角形や円に沿って動かすような場合も 複数の異なる姿勢を指示して動作計画と実行を行います． @@ -537,6 +538,570 @@ In [99]: moveit_commander.os._exit(0) <$endif> +<$endif> + +<$if <$ROS_DISTRO>==melodic|<$ROS_DISTRO>==noetic> + +### myCobot の場合 + +「シミュレータと MoveIt! の起動」の +「[myCobot - MoveIt! シミュレータ](moveit-tutorial_ja_robot-simulator.md#start-mycobot-moveit-simulator)」を参照して +MoveIt! を起動します． + +次に1行もしくは複数行ごとにプログラミングとその実行を行う +対話的プログラミングコンソールを起動します． + +**ターミナル** : 対話的プログラミングのコンソールの起動 + +```bash +source /opt/ros/<$ROS_DISTRO>/setup.bash +rosrun tork_moveit_tutorial demo.py +``` + +#### 実機を動かす場合 + +先に「[実機の使い方 - myCobot の場合](moveit-tutorial_ja_how-to-use-real-mycobot)」を参照してください． + +そのあと，上に書かれたコマンドの代わりに， +以下を実行してください． + +**ターミナル-1** : myCobot 280 とパソコンの接続プログラムの起動 + +```bash +source ~/catkin_ws/devel/setup.bash +roslaunch tork_moveit_tutorial mycobot_interface.launch +``` + +**ターミナル-2** : myCobot 280 用の MoveIt! の起動 + +```bash +source ~/catkin_ws/devel/setup.bash +roslaunch tork_moveit_tutorial demo.launch mode:=real +``` + +**ターミナル-3** : 対話的プログラミングのコンソールの起動 + +```bash +source /opt/ros/<$ROS_DISTRO>/setup.bash +rosrun tork_moveit_tutorial demo.py +``` + +#### 特定の関節を動かす + +プログラムから関節を動かすなどをするために「右腕」の `group` を作成します． +次の `In[1]:` 以下につづくプログラムを入力して [Enter/Return] キーを押して +1行ずつ実行してください． + +- 補足 : `In [1]:` の `[ ]` の中の数字はプログラム入力するたびに更新されます．本チュートリアルにある入力例にある数字と一致しない場合がありますがそれは問題ありませんので，そのままチュートリアルを進めてください． + +```python +In [1]: group = MoveGroupCommander("arm_group") +[ INFO] [1511506815.441893962, 135.795000000]: TrajectoryExecution will use new action capability. +[ INFO] [1511506815.442105792, 135.795000000]: Ready to take MoveGroup commands for group right_arm. + +In [2]: +``` + +- 注意：以下のように`TrajectoryExecution will use old action capability.`と表示される場合も有りますが問題ありません． +```python +In [1]: group = MoveGroupCommander("arm_group") +[ INFO] [1511506815.441893962, 135.795000000]: TrajectoryExecution will use old action capability. +[ INFO] [1511506815.442105792, 135.795000000]: Ready to take MoveGroup commands for group right_arm. +``` + +グループ `group` に含まれる関節の名前を `get_joints()` で調べます． + +```python +In [2]: group.get_joints() +Out[2]: +['joint1', 'joint2', 'joint3', 'joint4', 'joint5', 'joint6'] + +In [3]: +``` + +上は myCobot 280 の場合の出力結果で +`joint1`〜`joint6` の6つの関節があることがわかります． + +肘関節に相当する `joint3` を動かしてみます． + +`set_joint_value_target()` を使って関節の目標値を設定します． +`set_joint_value_target()` に関節名 `'joint3'` と +関節角度を `-2.0`（単位ラジアン[rad]）を渡します． + +```python +In [3]: group.set_joint_value_target( 'joint3', -2.0 ) +``` + +関節角度目標を設定したので `go()` で動かします． + +```python +In [4]: group.go() +Out[4]: True +``` + +正常に動作が完了すると `True` が返ってきます． +肘関節 `joint3` が少し屈曲したと思います． + +![myCobot - result of group.set_joint_value_target( 'joint3', -2.0 ) (simulation)](images/melodic/3.1_In_[3]_set_joint_value_target.png) +![myCobot - result of group.set_joint_value_target( 'joint3', -2.0 ) (real robot)](images/melodic/3.1_In_[3]_set_joint_value_target-real.jpg) + +同じ要領で他の右腕の関節もそれぞれ動かしてみます． + +```python +In [5]: group.set_joint_value_target( 'joint4', -0.78 ) +In [6]: group.go() +Out[6]: True +``` + +![myCobot - result of group.set_joint_value_target( 'joint4', -0.78 )](images/melodic/3.1_In_[5]_set_joint_value_target.png) + +```python +In [7]: group.set_joint_value_target( 'joint5', 0.78 ) +In [8]: group.go() +Out[8]: True +``` + +![myCobot - result of group.set_joint_value_target( 'joint5', 0.78 )](images/melodic/3.1_In_[7]_set_joint_value_target.png) + +```python +In [9]: group.set_joint_value_target( 'joint6', 0.78 ) +In [10]: group.go() +Out[10]: True +``` + +![myCobot - result of group.set_joint_value_target( 'joint6', 0.78 )](images/melodic/3.1_In_[9]_set_joint_value_target.png) + +#### 腕全体の関節を動かす + +`set_joint_value_target()` は1つの関節だけでなく +腕全体の関節角度目標値のリストを渡すことで複数の関節を同時に動かすこともできます． +`group.get_joints()` で調べたように myCobot には6つの関節があるので +6つ分の関節角度目標値 [rad] を持ったリストを `set_joint_value_target()` に渡します． + +```python +In [11]: group.set_joint_value_target( [ 0.0, 0.0, 0, 0.0, 0.0, 0.0 ] ) +In [12]: group.go() +Out[12]: True +``` + +![myCobot - result of group.set_joint_value_target( [ 0.0, 0.0, 0, 0.0, 0.0, 0.0 ] )](images/melodic/3.1_In_[11]_set_joint_value_target.png) + +myCobot ロボットは初期姿勢に戻っていることと思います． + +#### 手先の位置を指定して動かす + +手先（エンドエフェクタリンク）の位置を指定して腕を動かしてみます． + +`set_position_target()` を使います． +手先の目標位置の座標 ( x, y, z ) をリスト `[ X, Y, Z ]` で +`set_position_target()` に渡します． + +位置座標の単位はメートル [m] です． +座標原点は myCobot の場合，ベースリンク (`/base`) にあります． +各軸の方向は下記の右手座標系です． + +- X方向 : 正 = 前 / 負 = 後 +- Y方向 : 正 = 左 / 負 = 右 +- Z方向 : 正 = 上 / 負 = 下 + +```python +In [21]: group.set_position_target( [ 0.1, -0.1, 0.1 ] ) +``` + +`go()` を使って実行します． + +```python +In [22]: group.go() +Out[22]: True +``` + +手先の「位置」しか指定していないので +手先の「姿勢」は思わぬ方を向いていることもあります． + +![myCobot - one result of group.set_position_target( [ 0.1, -0.1, 0.1 ] )](images/melodic/3.1_In_[21]_set_position_target.png) + +#### 手先の姿勢を指定して動かす + +手先の姿勢を指定してロボットを動かしてみます． + +`set_rpy_target()` を使います． +手先の目標姿勢の角度 ( roll, pitch, yaw ) をリスト `[ R, P, Y ]` で +`set_rpy_target()` に渡します． + +```python +In [31]: group.set_rpy_target( [ 0.0, -2.36, 0.0 ] ) +``` + +`go()` を使って実行します． + +```python +In [32]: group.go() +Out[32]: True +``` + +手先の「姿勢」しか指定していないので +手先の「位置」は思わぬところにあることもあります． + +![myCobot - one result of group.set_rpy_target( [ 0.0, -2.36, 0.0 ] )](images/melodic/3.1_In_[31]_set_rpy_target.png) + +- 注意：以下のようなエラーメッセージが表示された場合は，再度 `group.go()` をお送りください． + +```bash +[ INFO] [1515668193.145149146, 166.319999999]: ABORTED: Solution found but controller failed during execution +``` + +#### 手先の位置と姿勢を指定して動かす + +手先の位置と姿勢を同時に指定して腕を動かすことができます． + +`set_pose_target()` を使います． +次のいずれか1つを `set_pose_target()` に渡して手先の位置と姿勢を指定します． + +- 位置座標と Roll/Pitch/Yaw 姿勢角の6つの数値のリスト `[x, y, z, rot_x, rot_y, rot_z]` +- 位置座標とクォータニオンの7つの数値のリスト `[x, y, z, qx, qy, qz, qw]` +- `Pose`型 +- `PoseStamped`型 + +どれを渡しても `set_pose_target()` 内で判断して適切な処理がなされます． + +- 参考 : GitHub - move_group.py 内の `set_pose_target()` の定義 + +[https://github.com/ros-planning/moveit/blob/1.0.2/moveit_commander/src/moveit_commander/move_group.py#L252][6cf69e4b] + + [6cf69e4b]: https://github.com/ros-planning/moveit/blob/1.0.2/moveit_commander/src/moveit_commander/move_group.py#L252 "set_pose_target()" + +それでは右手先の位置と姿勢を指定して腕を動かしてみます． +まずは 位置とRPY角 を `set_pose_target()` に渡して動作させます． + +```python +In [41]: group.set_pose_target( [ 0.1, -0.1, 0.1, 0, -1.57, 0 ] ) +In [42]: group.go() +Out[42]: True +``` + +![myCobot - result of group.set_pose_target( [ 0.1, -0.1, 0.1, 0, -1.57, 0 ] )](images/melodic/3.1_In_[41]_set_pose_target.png) + +もう1つ位置・姿勢を指定して腕を動かしてみます． + +```python +In [43]: group.set_pose_target( [ 0.1, -0.1, 0.2, 0, -3.14, 0 ] ) +In [44]: group.go() +Out[44]: True +``` + +![myCobot - result of group.set_pose_target( [ 0.1, -0.1, 0.2, 0, -3.14, 0 ] )](images/melodic/3.1_In_[43]_set_pose_target.png) + +今度は 位置とクォータニオン を `set_pose_target()` に渡して腕を動かしてみます． + +```python +In [45]: group.set_pose_target( [ 0.1, -0.1, 0.1, 0.0, -0.707, 0.0, 0.707 ] ) +In [46]: group.go() +Out[46]: True +``` + +![myCobot - result of group.set_pose_target( [ 0.1, -0.1, 0.1, 0.0, -0.707, 0.0, 0.707 ] )](images/melodic/3.1_In_[45]_set_pose_target.png) + +```python +In [47]: group.set_pose_target( [ 0.1, -0.1, 0.2, 0.0, -1.0, 0.0, 0.0] ) +In [48]: group.go() +Out[48]: True +``` + +![myCobot - result of group.set_pose_target( [ 0.1, -0.1, 0.2, 0.0, -1.0, 0.0, 0.0] )](images/melodic/3.1_In_[47]_set_pose_target.png) + +> - クォータニオン（四元数/しげんすう） +> - 空間上の姿勢を表現するための4つの成分をもつベクトル +> - 複素数から拡張された数体系 +> - 回転の結合・補間の計算が容易 +> - Roll/Pitch/Yaw のオイラー角により姿勢を表現した場合と比べて +> - 長所 +> - ジンバルロックという特異点がない +> - 計算が速い +> - 短所 +> - 直感的に分かりにくい +> - 比較的理解しやすい Roll/Pitch/Yaw からクォータニオンに変換することも可能 +> - 3D Rotation Converter +> - https://www.andre-gaschler.com/rotationconverter/ +> - ROS Wiki - Quaternion Basics +> - http://wiki.ros.org/tf2/Tutorials/Quaternions +> - ロボット以外では航空宇宙や 3D グラフィックスなどの分野で用いられる + +更に `Pose` 型を `set_pose_target()` に渡して腕を動かしてみます． + +```python +In [49]: pose_target_1 = Pose() + +In [50]: print( pose_target_1 ) +position: + x: 0.0 + y: 0.0 + z: 0.0 +orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 0.0 + +In [51]: pose_target_1.position.x = 0.1 +In [52]: pose_target_1.position.y = -0.1 +In [53]: pose_target_1.position.z = 0.1 +In [54]: pose_target_1.orientation.x = 0.0 +In [55]: pose_target_1.orientation.y = -0.707 +In [56]: pose_target_1.orientation.z = 0.0 +In [57]: pose_target_1.orientation.w = 0.707 + +In [58]: print( pose_target_1 ) +position: + x: 0.1 + y: -0.1 + z: 0.1 +orientation: + x: 0.0 + y: -0.707 + z: 0.0 + w: 0.707 + +In [59]: group.set_pose_target( pose_target_1 ) +In [60]: group.go() +Out[60]: True +``` + +![myCobot - result of group.set_pose_target( pose_target_1 )](images/melodic/3.1_In_[59]_set_pose_target.png) + +ポーズをもう1つ指定して腕を動かします． + +```python +In [61]: pose_target_2 = Pose() + +In [62]: print( pose_target_2 ) +position: + x: 0.0 + y: 0.0 + z: 0.0 +orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 0.0 + +In [63]: pose_target_2.position.x = 0.1 +In [64]: pose_target_2.position.y = -0.1 +In [65]: pose_target_2.position.z = 0.2 +In [66]: pose_target_2.orientation.y = -1.0 + +In [68]: print( pose_target_2 ) +position: + x: 0.1 + y: -0.1 + z: 0.2 +orientation: + x: 0.0 + y: -1.0 + z: 0.0 + w: 0.0 + +In [69]: group.set_pose_target( pose_target_2 ) +In [70]: group.go() +Out[70]: True +``` + +![myCobot - result of group.set_pose_target( pose_target_2 )](images/melodic/3.1_In_[69]_set_pose_target.png) + +`set_pose_target()` に渡せるもう1つの型 `PoseStamped` 型については + +- 発展的なロボットプログラミング - より複雑なロボット動作計画 / 姿勢の参照座標を指定する + +にて説明します． + +#### 直線補間軌道でロボットを動かす + +`group.plan()` や `group.go()` を用いた動作計画では動作開始姿勢と目標姿勢の間の動作は +各関節の開始角度と目標角度の間を補間した動作として計画されます． +このことは開始姿勢や目標姿勢として指定した姿勢以外の動作途中におけるエンドエフェクタの姿勢は +保証されないことを意味します． + +エンドエフェクタを目標姿勢間で直線的に動作させたい場合は +`group.compute_cartesian_path()` を用いて動作計画をします． +`compute_cartesian_path()` はその名前のとおり， +直行座標（=デカルト座標: Cartesian Coordinates）における補間軌道（Path）を作成します． + +`group.plan()` や `group.go()` で作成された動作計画（画像:左）と +`group.compute_cartesian_path()` で作成された動作計画（画像:右）を比較すると +次のようになります． + +![MoveIt! - Trajectory Comparison / compute_cartesian_path()](images/melodic/mycobot_moveit_cartesian-path_linear-trajectory_comparison.png) + +`compute_cartesian_path()` の具体的な使用方法は本項に続く項目の + +- 連続した指令をロボットに送る +- 四角形や円に沿ってエンドエフェクタを動かす + +を通して学習します． + +#### 連続した指令をロボットに送る + +ロボットの複数の異なる姿勢を指示して動作計画と実行を行います． + +複数の姿勢を指定した動作計画を行う場合も直線補間軌道でロボットを動かす場合と同じ +`compute_cartesian_path()` を用います． + +`compute_cartesian_path( self, waypoints, eef_step, jump_threshold, avoid_collisions = True )` +には次のものを渡します． + +- `waypoints` : エンドエフェクタが経由する姿勢のリスト +- `eef_step` : エンドエフェクタの姿勢を計算する間隔の距離 +- `jump_threshold` : 軌道内の連続する点間の最大距離（`0.0` で無効） +- `avoid_collisions` : 干渉と運動学上の制約チェック（デフォルトは `True` でチェックする） + +本チュートリアル手順に則って進めている場合， +myCobot 用の複数の姿勢のリスト `waypoints_mycobot` が用意されているので内容を確かめてみます． + +```python +In [2]: print( waypoints_mycobot ) +[position: + x: 0.1 + y: -0.1 + z: 0.1 +orientation: + x: 0.0 + y: -0.707 + z: 0.0 + w: 0.707, position: + x: 0.1 + y: -0.15 + z: 0.1 +orientation: + x: 0.0 + y: -0.707 + z: 0.0 + w: 0.707, position: + x: 0.1 + y: -0.1 + z: 0.2 +orientation: + x: 0.0 + y: -1.0 + z: 0.0 + w: 0.0, position: + x: 0.1 + y: -0.2 + z: 0.2 +orientation: + x: 0.0 + y: -1.0 + z: 0.0 + w: 0.0] +``` + +myCobot を特異姿勢でない姿勢にしてから， +姿勢のリスト `waypoints_mycobot` を `compute_cartesian_path()` に渡して動作計画を作成します． + +```python +In [3]: group.set_joint_value_target([0, 0, -1.57, 0, 0, 0]) + +In [4]: group.go() +Out[4]: True + +In [5]: ( plan, fraction ) = group.compute_cartesian_path( waypoints_mycobot, 0.01, 0.0) +``` + +`compute_cartesian_path()` で得られた計画 `plan` を +`group.execute()` に渡してロボットで動作を実行します． + +```python +In [6]: group.execute(plan) +Out[6]: True +``` + +![myCobot - result of group.compute_cartesian_path( waypoints_mycobot, 0.01, 0.0) (1)](images/melodic/3.1_waypoints_mycobot_1.jpg) ![myCobot - result of group.compute_cartesian_path( waypoints_mycobot, 0.01, 0.0) (2)](images/melodic/3.1_waypoints_mycobot_2.jpg) + +![myCobot - result of group.compute_cartesian_path( waypoints_mycobot, 0.01, 0.0) (3)](images/melodic/3.1_waypoints_mycobot_3.jpg) ![myCobot - result of group.compute_cartesian_path( waypoints_mycobot, 0.01, 0.0) (4)](images/melodic/3.1_waypoints_mycobot_4.jpg) + +#### 四角形や円に沿ってエンドエフェクタを動かす + +エンドエフェクタを四角形や円に沿って動かすような場合も +複数の異なる姿勢を指示して動作計画と実行を行います． + +四角形や円に沿った複数の姿勢のリストをそれぞれ +`waypoints_rectangular` と `waypoints_circular` として +用意しているのでそれらを使います． + +```python +In [10]: print( waypoints_mycobot_rectangular ) +[position: + x: 0.1 + y: 0.1 + z: 0.1 +orientation: + x: 0.0 + y: -1.0 + z: 0.0 + w: 6.123233995736766e-17, position: + x: 0.1 + y: 0.15 + z: 0.1 +orientation: + x: 0.0 + y: -1.0 + z: 0.0 + w: 6.123233995736766e-17, position: + x: 0.15 + y: 0.15 + z: 0.1 +orientation: + x: 0.0 + y: -1.0 + z: 0.0 + w: 6.123233995736766e-17, position: + x: 0.15 + y: 0.1 + z: 0.1 +orientation: + x: 0.0 + y: -1.0 + z: 0.0 + w: 6.123233995736766e-17, position: + x: 0.1 + y: 0.1 + z: 0.1 +orientation: + x: 0.0 + y: -1.0 + z: 0.0 + w: 6.123233995736766e-17] + +In [11]: group.set_joint_value_target( [ 0.0, 0.0, -1.57, 0.0, 0.0, 0.0 ] ) + +In [12]: group.go() +Out[12]: True + +In [13]: ( plan, fraction ) = group.compute_cartesian_path( waypoints_mycobot_rectangular, 0.01, 0.0) + +In [14]: group.execute(plan) +Out[14]: True +``` + +![myCobot - result of ( plan, fraction ) = group.compute_cartesian_path( waypoints_mycobot_rectangular, 0.01, 0.0)](images/melodic/3.1_waypoints_mycobot_rectangular.png) + +同様に円に沿った動作を行います． + +```python +In [13]: ( plan, fraction ) = group.compute_cartesian_path( waypoints_mycobot_circular, 0.01, 0.0) + +In [14]: group.execute(plan) +Out[14]: True + +``` + +![myCobot - result of ( plan, fraction ) = group.compute_cartesian_path( waypoints_mycobot_circular, 0.01, 0.0)](images/melodic/3.1_waypoints_mycobot_circular.png) + +`exit` もしくは `quit` で終了します． + +```python +In [15]: exit +``` + +<$endif> ## プログラムファイルを実行する @@ -546,6 +1111,8 @@ In [99]: moveit_commander.os._exit(0) プログラムファイルを実行する前に物理シミュレータと MoveIt! を起動しておきます． +<$if <$ROS_DISTRO>==indigo||<$ROS_DISTRO>==kinetic||<$ROS_DISTRO>==melodic> + ### NEXTAGE OPEN の場合 **ターミナル-1** @@ -625,6 +1192,7 @@ nextage_moveit_tutorial_poses.py で実行している内容は - `print()` を ROS のログに出力する `rospy.loginfo()` に変更 - `rospy.loginfo()` の表示内容もどの箇所の実行ログかわかるように変更 +<$endif> <$ifeq <$ROS_DISTRO>|indigo> @@ -711,6 +1279,8 @@ NEXTAGE OPEN の動作計画・動作の実行ファイルとの相違点は次 <$endif> +<$if <$ROS_DISTRO>==indigo||<$ROS_DISTRO>==kinetic||<$ROS_DISTRO>==melodic> + ### MINAS TRA1 の場合 @@ -785,8 +1355,10 @@ if __name__ == '__main__': - `group = MoveGroupCommander()` に渡すグループ名を `"manipulator"` に変更 - ターゲットポーズの位置・姿勢を MINAS TRA1 の機構に適したものに変更 +<$endif> + -<$ifneq <$ROS_DISTRO>|indigo> +<$if <$ROS_DISTRO>==kinetic||<$ROS_DISTRO>==melodic||<$ROS_DISTRO>==noetic> ### KHI duaro の場合 @@ -866,14 +1438,14 @@ if __name__ == '__main__': <$endif> -<$ifeq <$ROS_DISTRO>|melodic> +<$if <$ROS_DISTRO>==melodic|<$ROS_DISTRO>==noetic> ### myCobot の場合 **ターミナル-1** ``` $ source ~/catkin_ws/devel/setup.bash -$ roslaunch roslaunch mycobot_320_moveit demo.launch +$ roslaunch tork_moveit_tutorial demo.launch ``` 動作プログラムファイルを実行します． @@ -884,6 +1456,33 @@ $ source /opt/ros/<$ROS_DISTRO>/setup.bash $ rosrun tork_moveit_tutorial mycobot_moveit_tutorial_poses.py ``` +**実機を動かす場合** + +先に「[実機の使い方 - myCobot の場合](moveit-tutorial_ja_how-to-use-real-mycobot)」を参照してください． + +そのあと，上に書かれたコマンドの代わりに， +以下を実行してください． + +**ターミナル-1** : myCobot 280 とパソコンの接続プログラムの起動 + +```bash +$ source ~/catkin_ws/devel/setup.bash +$ roslaunch tork_moveit_tutorial mycobot_interface.launch +``` + +**ターミナル-2** : myCobot 280 用の MoveIt! の起動 + +```bash +$ source ~/catkin_ws/devel/setup.bash +$ roslaunch tork_moveit_tutorial demo.launch mode:=real +``` + +**ターミナル-3** +``` +$ source /opt/ros/<$ROS_DISTRO>/setup.bash +$ rosrun tork_moveit_tutorial mycobot_moveit_tutorial_poses.py +``` + `set_pose_target` を用いて手先位置姿勢を指定し，腕を動かすプログラムの例が以下になります． **mycobot_moveit_tutorial_poses.py** @@ -892,8 +1491,10 @@ $ rosrun tork_moveit_tutorial mycobot_moveit_tutorial_poses.py #!/usr/bin/env python from tork_moveit_tutorial import * +from tf.transformations import quaternion_from_euler if __name__ == '__main__': + init_node() group = MoveGroupCommander("arm_group") @@ -901,9 +1502,10 @@ if __name__ == '__main__': rospy.loginfo( "Start Pose Target 1") pose_target_1 = Pose() - pose_target_1.position.x = 0.3 + # quaternion_from_euler(0, 0, -1.57079) + pose_target_1.position.x = 0.2 pose_target_1.position.y = 0.0 - pose_target_1.position.z = 0.3 + pose_target_1.position.z = 0.2 pose_target_1.orientation.x = 0.0 pose_target_1.orientation.y = 0.0 pose_target_1.orientation.z = -0.7071 @@ -918,18 +1520,24 @@ if __name__ == '__main__': pose_target_2 = Pose() pose_target_2.position.x = 0.0 - pose_target_2.position.y =-0.3 - pose_target_2.position.z = 0.3 + pose_target_2.position.y =-0.2 + pose_target_2.position.z = 0.2 pose_target_2.orientation.z = -0.7071 pose_target_2.orientation.w = 0.7071 rospy.loginfo( "Set Target to Pose:\n{}".format( pose_target_2 ) ) group.set_pose_target( pose_target_2 ) group.go() + + # Compute Cartesian path + (plan, fraction) = group.compute_cartesian_path([pose_target_1, pose_target_2], 0.01, 0.0) + group.execute( plan ) ``` ![myCobot MoveIt! - cartesian path](images/melodic/mycobot-moveit_pose.png) +![myCobot MoveIt! - cartesian path (real robot 1)](images/melodic/mycobot-moveit_pose-real-robot-1.jpg) ![myCobot MoveIt! - cartesian path (real robot 2)](images/melodic/mycobot-moveit_pose-real-robot-2.jpg) + 他のロボットの動作計画・動作の実行ファイルとの相違点は次のとおりです． - `group = MoveGroupCommander()` に渡すグループ名を `"arm_group"` に変更 @@ -940,7 +1548,7 @@ if __name__ == '__main__': で得られる，`quaternion_from_euler(0, 0, -1.57079)` 関数を用いて取得します． また，このプログラムに続けて -以下のようにうに，`pose_target_1`, `pose_target_2`を用いて +以下のように，`pose_target_1`, `pose_target_2`を用いて `group.compute_cartesian_path([pose_target_1, pose_target_2], 0.01, 0.0)` として直線補間軌道を計画し，`group.execute( plan )` で実行します． @@ -950,29 +1558,33 @@ if __name__ == '__main__': group.execute( plan ) ``` - - ![myCobot MoveIt! - cartesian path](images/melodic/mycobot-moveit_cartesian_path.png) +![myCobot MoveIt! - cartesian path (real robot 1)](images/melodic/mycobot-moveit_cartesian_path-real-robot-1.jpg) ![myCobot MoveIt! - cartesian path (real robot 2)](images/melodic/mycobot-moveit_cartesian_path-real-robot-2.jpg) + <$endif> ### ROS や MoveIt! のメリット -<$ifeq <$ROS_DISTRO>|indigo> +<$if <$ROS_DISTRO>==indigo> NEXTAGE OPEN や Baxter Research Robot, MINAS TRA1 の動作計画・動作プログラムの相違点を見ると下記の2ヶ所だけが 各ロボットに対応しただけだということが分かります． -<$endif> - -<$ifneq <$ROS_DISTRO>|indigo> +<$elif <$ROS_DISTRO>==kinetic|<$ROS_DISTRO>==melodic> NEXTAGE OPEN や MINAS TRA1，KHI duaro の動作計画・動作プログラムの相違点を見ると下記の2ヶ所だけが 各ロボットに対応しただけだということが分かります． +<$elif <$ROS_DISTRO>==noetic> + +KHI duaro や myCobot +の動作計画・動作プログラムの相違点を見ると下記の2ヶ所だけが +各ロボットに対応しただけだということが分かります． + <$endif> - group = MoveGroupCommander() に渡すグループ名を各ロボットアームに対応したものにする diff --git a/doc/moveit-tutorial_ja_robot-simulator.md b/doc/moveit-tutorial_ja_robot-simulator.md index e3e77c0..b2f7f29 100644 --- a/doc/moveit-tutorial_ja_robot-simulator.md +++ b/doc/moveit-tutorial_ja_robot-simulator.md @@ -4,33 +4,32 @@ シミュレータ上のロボットを動かしてみます． 本チュートリアルでは下記のロボットのシミュレータの利用方法を紹介します． -<$ifeq <$ROS_DISTRO>|indigo> +<$if <$ROS_DISTRO>==indigo> - NEXTAGE OPEN : 人型双腕ロボット - Baxter Research Robot : 人型双腕ロボット - MINAS TRA1 : 単腕マニピュレータ -<$endif> - -<$ifeq <$ROS_DISTRO>|kinetic> +<$elif <$ROS_DISTRO>==kinetic> - NEXTAGE OPEN : 人型双腕ロボット - MINAS TRA1 : 単腕マニピュレータ - KHI duaro : スカラ型双腕ロボット - Baxter Research Robot : 人型双腕ロボット（「ワークスペースの作成」の章にて） -<$endif> -<$ifeq <$ROS_DISTRO>|melodic> -- myCobot : 教育用単腕マニピュレータ -<$endif> - -<$ifeq <$ROS_DISTRO>|melodic> +<$elif <$ROS_DISTRO>==melodic> +- myCobot : 教育用単腕マニピュレータ - NEXTAGE OPEN : 人型双腕ロボット - MINAS TRA1 : 単腕マニピュレータ（「ソースインストール」の章にて） -- KHI duaro : スカラ型双腕ロボット（「ソースインストール」の章にて） +- KHI duaro : スカラ型双腕ロボット - Baxter Research Robot : 人型双腕ロボット（「ワークスペースの作成」の章にて） +<$elif <$ROS_DISTRO>==noetic> + +- myCobot : 教育用単腕マニピュレータ +- KHI duaro : スカラ型双腕ロボット + <$endif> @@ -38,7 +37,7 @@ 本チュートリアルで扱うシミュレータには次のような種類があります． -<$ifeq <$ROS_DISTRO>|indigo> +<$if <$ROS_DISTRO>==indigo> - ROS のシミュレータ - NEXTAGE OPEN / Baxter Research Robot / MINAS TRA1 @@ -48,9 +47,7 @@ - NEXTAGE OPEN のみ - 動力学を含む物理シミュレータ -<$endif> - -<$ifneq <$ROS_DISTRO>|indigo> +<$elif <$ROS_DISTRO>==kinetic> - ROS のシミュレータ - NEXTAGE OPEN / Baxter Research Robot / MINAS TRA1 / KHI duaro @@ -60,6 +57,23 @@ - NEXTAGE OPEN のみ - 動力学を含む物理シミュレータ +<$elif <$ROS_DISTRO>==melodic> + +- ROS のシミュレータ + - myCobot / NEXTAGE OPEN / MINAS TRA1 / KHI duaro + - MoveIt! シミュレータ : 運動学のみの動作計画シミュレータ + - Gazebo シミュレータ : 動力学を含む環境・物理シミュレータ +- hrpsys(RTM) シミュレータ + - NEXTAGE OPEN のみ + - 動力学を含む物理シミュレータ + +<$elif <$ROS_DISTRO>==noetic> + +- ROS のシミュレータ + - myCobot / KHI duaro + - MoveIt! シミュレータ : 運動学のみの動作計画シミュレータ + - Gazebo シミュレータ : 動力学を含む環境・物理シミュレータ + <$endif> 本チュートリアルではどのシミュレータを使っても最終的には @@ -78,14 +92,18 @@ NEXTAGE OPEN の Gazebo シミュレータと MoveIt! の組み合わせを基 - ロボットシミュレータなどのインストール 次のソフトウェアのインストールをします． +<$if <$ROS_DISTRO>==indigo||<$ROS_DISTRO>==kinetic||<$ROS_DISTRO>==melodic> 各ロボットソフトウェアは全てインストールしても，どれか1つでも大丈夫ですが， 本チュートリアルは NEXTAGE OPEN を中心的な例として記述していますので 少なくとも NEXTAGE OPEN ソフトウェアのインストールをお願いします． NEXTAGE OPEN に加えて他のロボットのソフトウェアもインストールすると 他のロボットへのプログラム応用方法についての理解が進みます． +<$elif ROS_DISTRO==noetic> +各ロボットソフトウェアは全てインストールしても，どれか1つでも大丈夫です． +<$endif> -<$ifeq <$ROS_DISTRO>|indigo> +<$if <$ROS_DISTRO>==indigo> - ROS とチュートリアルパッケージ - ロボットソフトウェア @@ -93,9 +111,7 @@ NEXTAGE OPEN に加えて他のロボットのソフトウェアもインスト - Baxter ソフトウェア - MINAS TRA1 ソフトウェア -<$endif> - -<$ifneq <$ROS_DISTRO>|indigo> +<$elif <$ROS_DISTRO>==kinetic> - ROS とチュートリアルパッケージ - ロボットソフトウェア @@ -103,45 +119,66 @@ NEXTAGE OPEN に加えて他のロボットのソフトウェアもインスト - MINAS TRA1 ソフトウェア - KHI duaro ソフトウェア +<$elif <$ROS_DISTRO>==melodic> + +- ROS とチュートリアルパッケージ +- ロボットソフトウェア + - NEXTAGE OPEN ソフトウェア + - KHI duaro ソフトウェア + +<$elif <$ROS_DISTRO>==noetic> + +- ROS とチュートリアルパッケージ +- ロボットソフトウェア + - KHI duaro ソフトウェア + <$endif> また，システム構成は次のとおりです． -<$ifeq <$ROS_DISTRO>|indigo> +<$if <$ROS_DISTRO>==indigo> - Ubuntu 14.04 - ROS Indigo -<$endif> - -<$ifeq <$ROS_DISTRO>|kinetic> +<$elif <$ROS_DISTRO>==kinetic> - Ubuntu 16.04 - ROS Kinetic -<$endif> - -<$ifeq <$ROS_DISTRO>|melodic> +<$elif <$ROS_DISTRO>==melodic> - Ubuntu 18.04 - ROS Melodic +<$elif <$ROS_DISTRO>==noetic> + +- Ubuntu 20.04 +- ROS Noetic + <$endif> -> ROS は Ubuntu の各バージョンに対応したものがあります． -> それぞれに対応した Ubuntu と ROS の組み合わせで利用する必要があります． -> -> Ubuntu バージョン | ROS バージョン | サポート終了 -> --- | --- | --- -> 20.04 (Focal) | Noetic Ninjemys | 2025年5月 -> 18.04 (Bionic) | Melodic Morenia| 2023年5月 -> 16.04 (Xenial) | Kinetic Kame | 2021年4月 -> 14.04 (Trusty) | Indigo Igloo | 2019年4月 -> -> 詳しくは下記の ROS Wiki で確認してください． -> -> - ROS Wiki - Distributions -> - http://wiki.ros.org/Distributions +ROS は Ubuntu の各バージョンに対応したものがあります． +それぞれに対応した Ubuntu と ROS の組み合わせで利用する必要があります． + +```eval_rst ++-------------------+-----------------+--------------+ +| Ubuntu バージョン | ROS バージョン | サポート終了 | ++===================+=================+==============+ +| 20.04 (Focal) | Noetic Ninjemys | 2025年5月 | ++-------------------+-----------------+--------------+ +| 18.04 (Bionic) | Melodic Morenia | 2023年5月 | ++-------------------+-----------------+--------------+ +| 16.04 (Xenial) | Kinetic Kame | 2021年4月 | ++-------------------+-----------------+--------------+ +| 14.04 (Trusty) | Indigo Igloo | 2019年4月 | ++-------------------+-----------------+--------------+ +``` + +詳しくは下記の ROS Wiki で確認してください． + +- ROS Wiki - Distributions + - http://wiki.ros.org/Distributions ### ROS のインストール @@ -151,40 +188,25 @@ NEXTAGE OPEN に加えて他のロボットのソフトウェアもインスト します． 既に ROS がインストールされていれば，次のチュートリアルパッケージのインストールに進んでください． -<$ifeq <$ROS_DISTRO>|indigo> - -``` -$ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' -$ sudo apt-get install curl -$ curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add - -$ sudo apt-get update -$ sudo apt-get install ros-indigo-desktop-full +```bash +sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' +sudo apt-get install curl +curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add - +sudo apt-get update +sudo apt-get install ros-<$ROS_DISTRO>-desktop-full ``` -<$endif> - -<$ifneq <$ROS_DISTRO>|indigo> - -``` -$ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' -$ sudo apt install curl -$ curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add - -sudo apt update -sudo apt install ros-<$ROS_DISTRO>-desktop-full -``` - -<$endif> rosdep の初期化を行います． -``` -$ sudo rosdep init -$ rosdep update +```bash +sudo rosdep init +rosdep update ``` rosinstall をインストールします． -``` +```bash sudo apt-get install python-rosinstall ``` @@ -198,34 +220,38 @@ sudo apt-get install python-rosinstall ターミナルから次のコマンドを実行して チュートリアルパッケージのソフトウェアをインストールします． +```bash +sudo apt-get install ros-<$ROS_DISTRO>-tork-moveit-tutorial ``` -$ sudo apt-get install ros-<$ROS_DISTRO>-tork-moveit-tutorial -``` +<$if <$ROS_DISTRO>==indigo||<$ROS_DISTRO>==kinetic||<$ROS_DISTRO>==melodic> + ### NEXTAGE OPEN ソフトウェアのインストール ターミナルから次のコマンドを実行して NEXTAGE OPEN のソフトウェアをインストールします． -``` -$ sudo apt-get update && sudo apt-get install ros-<$ROS_DISTRO>-rtmros-nextage ros-<$ROS_DISTRO>-rtmros-hironx +```bash +sudo apt-get update && sudo apt-get install ros-<$ROS_DISTRO>-rtmros-nextage ros-<$ROS_DISTRO>-rtmros-hironx ``` +<$endif> -<$ifeq <$ROS_DISTRO>|indigo> + +<$if <$ROS_DISTRO>==indigo> ### Baxter ソフトウェアのインストール ターミナルから次のコマンドを実行して Baxter Research Robot のソフトウェアをインストールします． -``` -$ sudo apt-get update -$ sudo apt-get install git-core python-argparse python-wstool python-vcstools python-rosdep ros-<$ROS_DISTRO>-control-msgs ros-<$ROS_DISTRO>-joystick-drivers -$ sudo apt-get install ros-<$ROS_DISTRO>-baxter-sdk ros-<$ROS_DISTRO>-baxter-moveit-config -$ sudo apt-get install gazebo2 ros-<$ROS_DISTRO>-qt-build ros-<$ROS_DISTRO>-driver-common ros-<$ROS_DISTRO>-gazebo-ros-control ros-<$ROS_DISTRO>-gazebo-ros-pkgs ros-<$ROS_DISTRO>-ros-control ros-<$ROS_DISTRO>-control-toolbox ros-<$ROS_DISTRO>-realtime-tools ros-<$ROS_DISTRO>-ros-controllers ros-<$ROS_DISTRO>-xacro python-wstool ros-<$ROS_DISTRO>-tf-conversions ros-<$ROS_DISTRO>-kdl-parser -$ sudo apt-get install ros-<$ROS_DISTRO>-baxter-simulator +```bash +sudo apt-get update +sudo apt-get install git-core python-argparse python-wstool python-vcstools python-rosdep ros-<$ROS_DISTRO>-control-msgs ros-<$ROS_DISTRO>-joystick-drivers +sudo apt-get install ros-<$ROS_DISTRO>-baxter-sdk ros-<$ROS_DISTRO>-baxter-moveit-config +sudo apt-get install gazebo2 ros-<$ROS_DISTRO>-qt-build ros-<$ROS_DISTRO>-driver-common ros-<$ROS_DISTRO>-gazebo-ros-control ros-<$ROS_DISTRO>-gazebo-ros-pkgs ros-<$ROS_DISTRO>-ros-control ros-<$ROS_DISTRO>-control-toolbox ros-<$ROS_DISTRO>-realtime-tools ros-<$ROS_DISTRO>-ros-controllers ros-<$ROS_DISTRO>-xacro python-wstool ros-<$ROS_DISTRO>-tf-conversions ros-<$ROS_DISTRO>-kdl-parser +sudo apt-get install ros-<$ROS_DISTRO>-baxter-simulator ``` インストール方法については以下の公式ページにも説明があるので参照ください． @@ -235,31 +261,34 @@ $ sudo apt-get install ros-<$ROS_DISTRO>-baxter-simulator <$endif> +<$if <$ROS_DISTRO>==indigo||<$ROS_DISTRO>==kinetic> ### MINAS TRA1 ソフトウェアのインストール ターミナルから次のコマンドを実行して MINAS TRA1 のソフトウェアをインストールします． -``` -$ sudo apt-get update && sudo apt-get install ros-<$ROS_DISTRO>-minas +```bash +sudo apt-get update && sudo apt-get install ros-<$ROS_DISTRO>-minas ``` +<$endif> + -<$ifneq <$ROS_DISTRO>|indigo> +<$if <$ROS_DISTRO>==kinetic||<$ROS_DISTRO>==melodic||<$ROS_DISTRO>==noetic> ### KHI duaro ソフトウェアのインストール ターミナルから次のコマンドを実行して KHI duaro のソフトウェアをインストールします． -``` -$ sudo apt-get update && sudo apt-get install ros-<$ROS_DISTRO>-khi-duaro-gazebo ros-<$ROS_DISTRO>-khi-duaro-description ros-<$ROS_DISTRO>-khi-duaro-ikfast-plugin ros-<$ROS_DISTRO>-khi-duaro-moveit-config +```bash +sudo apt-get update && sudo apt-get install ros-<$ROS_DISTRO>-khi-duaro-gazebo ros-<$ROS_DISTRO>-khi-duaro-description ros-<$ROS_DISTRO>-khi-duaro-ikfast-plugin ros-<$ROS_DISTRO>-khi-duaro-moveit-config ``` <$endif> -<$ifeq <$ROS_DISTRO>|melodic> +<$if <$ROS_DISTRO>==melodic||<$ROS_DISTRO>==noetic> ### myCobot ソフトウェアのインストール @@ -270,23 +299,24 @@ myCobot のソフトウェアのインストールにはワークスペースの `catkin_ws` という名前のワークスペースを作成する手順は次のとおりです． -``` -$ mkdir -p ~/catkin_ws/src -$ cd ~/catkin_ws/src -$ catkin_init_workspace -$ cd ~/catkin_ws/ -$ catkin_make -$ source devel/setup.bash +```bash +mkdir -p ~/catkin_ws/src +cd ~/catkin_ws/src +catkin_init_workspace +cd ~/catkin_ws/ +catkin_make +source devel/setup.bash ``` 次に，myCobot のソースコードの取得とビルドを行います． -``` -$ cd ~/catkin_ws/src -$ git clone https://github.com/elephantrobotics/mycobot_ros -$ cd ~/catkin_ws -$ catkin_make -$ source devel/setup.bash +```bash +cd ~/catkin_ws/src +git clone https://github.com/tork-a/tork_moveit_tutorial +rosdep install --from-paths . --ignore-src -y +cd ~/catkin_ws +catkin_make +source devel/setup.bash ``` <$endif> @@ -296,37 +326,57 @@ $ source devel/setup.bash インストールの最後に setup.bash を読み込み，ROS の環境を設定します． -``` -$ source /opt/ros/<$ROS_DISTRO>/setup.bash +```bash +source /opt/ros/<$ROS_DISTRO>/setup.bash ``` これは新しくターミナルを立ち上げて ROS を使用する前に毎回必要になります． 下記のように .bashrc ファイルに設定を加えて ターミナル起動時に setup.bash を自動で実行し ROS 環境になるようにしておくと便利です． -``` -$ echo "source /opt/ros/<$ROS_DISTRO>/setup.bash" >> ~/.bashrc +```bash +echo "source /opt/ros/<$ROS_DISTRO>/setup.bash" >> ~/.bashrc ``` - **注意**: 上記コマンドの `>>` を `>` にしてしまうと元々あった .bashrc 内の設定が消えてしまうので気をつけてください． +<$if <$ROS_DISTRO>==melodic|<$ROS_DISTRO>==noetic> +また，`~/catkin_ws`というワークスペースを作成した場合は，ワークスペース内の setup.bash を読み込むことで，ワークスペース内を含むROSの環境を設定することができます。 + +```bash +source ~/catkin_ws/devel/setup.bash +``` + +同様に、これは新しくターミナルを立ち上げて ROS を使用する前には毎回必要になるので，下記のように .bashrc ファイルに設定を加えることで +ターミナル起動時に自動で実行するようにしておくと便利です． + +```bash +echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc +``` + +<$endif> + +<$if <$ROS_DISTRO>==indigo|<$ROS_DISTRO>==kinetic> .bashrc の設定ができていると以後のターミナルを起動するたびに行う `source /opt/ros/<$ROS_DISTRO>/setup.bash` は不要です． +<$elif <$ROS_DISTRO>==melodic|<$ROS_DISTRO>==noetic> +.bashrc の設定ができていると以後のターミナルを起動するたびに行う +`source /opt/ros/<$ROS_DISTRO>/setup.bash` 及び `source ~/catkin_ws/devel/setup.bash` は不要です． +<$endif> - -<$ifeq <$ROS_DISTRO>|melodic> +<$if <$ROS_DISTRO>==melodic> ## ソースインストール -apt でインストールできるようにバイナリ／リリースされていないロボットパッケージはワークスペース経由でインストールすることができます．標準では推奨されていな方法ですので十分に注意して実行してください． +apt でインストールできるようにバイナリ／リリースされていないロボットパッケージはワークスペース経由でインストールすることができます．標準では推奨されていない方法ですので十分に注意して実行してください． まず，`/tmp/catkin_ws` という名前のワークスペースを作成する手順は次のとおりです． -``` -$ source /opt/ros/<$ROS_DISTRO>/setup.bash -$ mkdir -p /tmp/catkin_ws/src -$ cd /tmp/catkin_ws/src -$ catkin_init_workspace +```bash +source /opt/ros/<$ROS_DISTRO>/setup.bash +mkdir -p /tmp/catkin_ws/src +cd /tmp/catkin_ws/src +catkin_init_workspace ``` ### MINAS TRA1 ソフトウェアの取得とビルド @@ -334,25 +384,12 @@ $ catkin_init_workspace 次の手順で MINAS TRA1 のクローンと それに必要なソフトウェアパッケージの取得，ビルドを行います． -``` -$ cd /tmp/catkin_ws/src -$ git clone https://github.com/tork-a/minas.git -$ rosdep install --from-paths . --ignore-src -y -$ cd /tmp/catkin_ws -$ catkin_make -``` - -### KHI duaro ソフトウェアの取得とビルド - -次の手順で KHI Duaro のクローンと -それに必要なソフトウェアパッケージの取得，ビルドを行います． - -``` -$ cd /tmp/catkin_ws/src -$ git clone https://github.com/Kawasaki-Robotics/khi_robot.git -$ rosdep install --from-paths . --ignore-src -y -$ cd /tmp/catkin_ws -$ catkin_make +```bash +cd /tmp/catkin_ws/src +git clone https://github.com/tork-a/minas.git +rosdep install --from-paths . --ignore-src -y +cd /tmp/catkin_ws +catkin_make ``` ### ワークスペースでビルドしたソフトウェアのインストール @@ -364,18 +401,21 @@ $ catkin_make 繰り返しになりますが標準では推奨されない方法ですので もしここまでの手順でエラーが出ていれば作業を中止してください． -``` -$ cd /tmp/catkin_ws -$ sudo su -$ source /opt/ros/<$ROS_DISTRO>/setup.bash -$ catkin_make_isolated --install --install-space /opt/ros/<$ROS_DISTRO> -DCMAKE_BUILD_TYPE=Release +```bash +cd /tmp/catkin_ws +sudo su +source /opt/ros/<$ROS_DISTRO>/setup.bash +catkin_make_isolated --install --install-space /opt/ros/<$ROS_DISTRO> -DCMAKE_BUILD_TYPE=Release ``` <$endif> ## シミュレータと MoveIt! の起動 +<$if <$ROS_DISTRO>==indigo|<$ROS_DISTRO>==kinetic|<$ROS_DISTRO>==melodic> + + ### NEXTAGE OPEN - hrpsys シミュレータ #### hrpsys シミュレータ・MoveIt! などの起動 @@ -384,9 +424,9 @@ NEXTAGE OPEN の動力学シミュレータの一つである NEXTAGE OPEN hrpsys(RTM) シミュレータを起動します． ターミナルを開いて次のコマンドを実行してください． -``` -$ source /opt/ros/<$ROS_DISTRO>/setup.bash -$ rtmlaunch nextage_moveit_config nextage_demo.launch +```bash +source /opt/ros/<$ROS_DISTRO>/setup.bash +rtmlaunch nextage_moveit_config nextage_demo.launch ``` コマンドを実行すると次の4つのウィンドウが開きます． @@ -396,13 +436,11 @@ $ rtmlaunch nextage_moveit_config nextage_demo.launch - MoveIt! / RViz - Hironx Dashboard (Command Panel for Hironx / NEXTAGE Open) -<$ifeq <$ROS_DISTRO>|indigo> +<$if <$ROS_DISTRO>==indigo> ![NextageROS_Demo - Starts](images/nextageros-demo_starts.png) -<$endif> - -<$ifneq <$ROS_DISTRO>|indigo> +<$else> ![NextageROS_Demo - Starts](images/kinetic/nextage_moveit-demo_starts.png) @@ -415,7 +453,12 @@ $ rtmlaunch nextage_moveit_config nextage_demo.launch シミュレータを終了するには全体を起動したターミナル上で Ctrl-C を入力すると全体が終了します． +<$endif> + +<$if <$ROS_DISTRO>==indigo|<$ROS_DISTRO>==kinetic|<$ROS_DISTRO>==melodic> + + ### NEXTAGE OPEN - Gazebo シミュレータ NEXTAGE OPEN のもうひとつの動力学シミュレータは @@ -429,7 +472,8 @@ ROS の動力学環境シミュレータ Gazebo 上で動きます． NEXTAGE OPEN Gazebo シミュレータを起動します． **ターミナル-1** : Gazebo シミュレータの起動 -``` + +```bash $ source /opt/ros/<$ROS_DISTRO>/setup.bash $ roslaunch nextage_gazebo nextage_world.launch : @@ -442,19 +486,15 @@ log file: /home/robotuser/.ros/log/5d4ac8aa-baeb-11e7-af06-001c4284b313/go_initi Gazebo が起動して上記のターミナルの出力が得られたら Gazebo シミュレータ内の NEXTAGE OPEN ロボットの準備が完了しています． -<$ifeq <$ROS_DISTRO>|indigo> +<$if <$ROS_DISTRO>==indigo> ![NEXTAGE - Gazebo Starts](images/nextage_gazebo-starts.png) -<$endif> - -<$ifeq <$ROS_DISTRO>|kinetic> +<$elif <$ROS_DISTRO>==kinetic> ![NEXTAGE - Gazebo Starts](images/kinetic/nextage_gazebo-starts.png) -<$endif> - -<$ifeq <$ROS_DISTRO>|melodic> +<$elif <$ROS_DISTRO>==melodic> ![NEXTAGE - Gazebo Starts](images/melodic/nextage_gazebo_starts.png) @@ -471,23 +511,21 @@ NEXTAGE OPEN ロボットの準備が完了しています． 2つ目のターミナルで次のコマンドを入力して MoveIt! を起動します． **ターミナル-2** : MoveIt! の起動 + +```bash +source /opt/ros/<$ROS_DISTRO>/setup.bash +roslaunch nextage_moveit_config moveit_planning_execution.launch ``` -$ source /opt/ros/<$ROS_DISTRO>/setup.bash -$ roslaunch nextage_moveit_config moveit_planning_execution.launch -``` -<$ifeq <$ROS_DISTRO>|indigo> -![NEXTAGE - MoveIt! Starts](images/nextage_moveit-starts.png) +<$if <$ROS_DISTRO>==indigo> -<$endif> +![NEXTAGE - MoveIt! Starts](images/nextage_moveit-starts.png) -<$ifeq <$ROS_DISTRO>|kinetic> +<$elif <$ROS_DISTRO>==kinetic> ![NEXTAGE - MoveIt! Starts](images/kinetic/nextage_moveit-starts.png) -<$endif> - -<$ifeq <$ROS_DISTRO>|melodic> +<$elif <$ROS_DISTRO>==melodic> ![NEXTAGE - MoveIt! Starts](images/melodic/nextage_moveit_starts.png) @@ -499,8 +537,9 @@ $ roslaunch nextage_moveit_config moveit_planning_execution.launch シミュレータを終了するには各ターミナルで Ctrl-C を入力してください． +<$endif> -<$ifeq <$ROS_DISTRO>|indigo> +<$if <$ROS_DISTRO>==indigo> ### Baxter Research Robot - Gazebo シミュレータ @@ -509,16 +548,17 @@ $ roslaunch nextage_moveit_config moveit_planning_execution.launch ターミナルを3つ開きます． **ターミナル-1** : Baxter シミュレータの起動 -``` -$ source /opt/ros/<$ROS_DISTRO>/setup.bash -$ roslaunch baxter_gazebo baxter_world.launch + +```bash +source /opt/ros/<$ROS_DISTRO>/setup.bash +roslaunch baxter_gazebo baxter_world.launch ``` ![Baxter Simulator - Starts](images/baxter-simulator_starts.png) しばらくすると次のようなメッセージが **ターミナル-1** に表示されます． -``` +```bash [ INFO] [1509004453.402952141, 10.130000000]: Simulator is loaded and started successfully [ INFO] [1509004453.462744480, 10.140000000]: Robot is disabled [ INFO] [1509004453.462870807, 10.140000000]: Gravity compensation was turned off @@ -532,7 +572,8 @@ $ roslaunch baxter_gazebo baxter_world.launch 2つ目のターミナル上で次のコマンドを実行してください． **ターミナル-2** : ロボットの準備 -``` + +```bash $ source /opt/ros/<$ROS_DISTRO>/setup.bash $ rosrun baxter_tools enable_robot.py -e @@ -561,9 +602,10 @@ Running. Ctrl-c to quit 3つ目のターミナルで次のコマンドを実行して MoveIt! を起動します． **ターミナル-3** : MoveIt! の起動 -``` -$ source /opt/ros/<$ROS_DISTRO>/setup.bash -$ roslaunch baxter_moveit_config baxter_grippers.launch + +```bash +source /opt/ros/<$ROS_DISTRO>/setup.bash +roslaunch baxter_moveit_config baxter_grippers.launch ``` ![Baxter MoveIt! - Starts](images/baxter-moveIt_starts.png) @@ -579,6 +621,8 @@ $ roslaunch baxter_moveit_config baxter_grippers.launch <$endif> +<$if <$ROS_DISTRO>==indigo||<$ROS_DISTRO>==kinetic||<$ROS_DISTRO>==melodic> + ### MINAS TRA1 - MoveIt! シミュレータ ターミナルを2つ起動します． @@ -586,17 +630,19 @@ $ roslaunch baxter_moveit_config baxter_grippers.launch 1つ目のターミナルでコントローラをシミュレーションモードで起動します． **ターミナル-1** -``` -$ source /opt/ros/<$ROS_DISTRO>/setup.bash -$ roslaunch tra1_bringup tra1_bringup.launch simulation:=true + +```bash +source /opt/ros/<$ROS_DISTRO>/setup.bash +roslaunch tra1_bringup tra1_bringup.launch simulation:=true ``` 2つ目のターミナルで MoveIt! を起動します． **ターミナル-2** -``` -$ source /opt/ros/<$ROS_DISTRO>/setup.bash -$ roslaunch tra1_bringup tra1_moveit.launch + +```bash +source /opt/ros/<$ROS_DISTRO>/setup.bash +roslaunch tra1_bringup tra1_moveit.launch ``` <$ifeq <$ROS_DISTRO>|indigo> @@ -619,8 +665,10 @@ $ roslaunch tra1_bringup tra1_moveit.launch シミュレータを終了するには各ターミナルで Ctrl-C を入力してください． +<$endif> + -<$ifneq <$ROS_DISTRO>|indigo> +<$if <$ROS_DISTRO>==kinetic||<$ROS_DISTRO>==melodic||<$ROS_DISTRO>==noetic> ### KHI duaro - Gazebo シミュレータ @@ -649,7 +697,7 @@ $ roslaunch khi_duaro_gazebo duaro_world.launch しばらくすると次のようなメッセージが **ターミナル-1** に表示されます． -``` +```bash [INFO] [1557303124.764122, 0.426000]: Started controllers: joint_state_controller, duaro_lower_arm_controller, duaro_upper_arm_controller [go_initial-8] process has finished cleanly log file: /home/robotuser/.ros/log/f5391a42-7168-11e9-931c-1c1bb5f26084/go_initial-8*.log @@ -663,9 +711,10 @@ log file: /home/robotuser/.ros/log/f5391a42-7168-11e9-931c-1c1bb5f26084/go_initi 2つ目のターミナルで次のコマンドを実行して MoveIt! を起動します． **ターミナル-2** : MoveIt! の起動 -``` -$ source /opt/ros/<$ROS_DISTRO>/setup.bash -$ roslaunch khi_duaro_moveit_config moveit_planning_execution.launch + +```bash +source /opt/ros/<$ROS_DISTRO>/setup.bash +roslaunch khi_duaro_moveit_config moveit_planning_execution.launch ``` <$if <$ROS_DISTRO>==kinetic> @@ -690,18 +739,21 @@ $ roslaunch khi_duaro_moveit_config moveit_planning_execution.launch <$endif> -<$ifeq <$ROS_DISTRO>|melodic> +<$if <$ROS_DISTRO>==melodic|<$ROS_DISTRO>==noetic> + + -### myCobot - シミュレータ +### myCobot - MoveIt! シミュレータ #### MoveIt! の起動 -ーミナルで次のコマンドを実行して MoveIt! を起動します． +ターミナルで次のコマンドを実行して myCobot 280 用 MoveIt! を起動します． -**ターミナル-2** : MoveIt! の起動 -``` -$ source ~/catkin_ws/devel/setup.bash -$ roslaunch roslaunch mycobot_320_moveit demo.launch +**ターミナル-1** : myCobot 280 用の MoveIt! の起動 + +```bash +source ~/catkin_ws/devel/setup.bash +roslaunch tork_moveit_tutorial demo.launch ``` ![myCobot MoveIt! - Starts](images/melodic/mycobot-moveit_starts.png) @@ -738,19 +790,19 @@ MoveIt! が動作計画を行い，シミュレータのロボットが動作し 動作計画だけを行いたい場合は `Plan` ボタンをクリックします． -<$ifeq <$ROS_DISTRO>|indigo> +<$if <$ROS_DISTRO>==indigo> ![MoveIt! - RViz Plan and Execute](images/nextage_moveit_plan-execute.png) -<$endif> - -<$ifeq <$ROS_DISTRO>|kinetic> +<$elif <$ROS_DISTRO>==kinetic> ![MoveIt! - RViz Plan and Execute](images/kinetic/nextage_moveit_plan-execute.png) -<$endif> +<$elif <$ROS_DISTRO>==melodic> -<$ifeq <$ROS_DISTRO>|melodic> +![MoveIt! - RViz Plan and Execute](images/melodic/nextage_moveit_plan-execute.png) + +<$elif <$ROS_DISTRO>==noetic> ![MoveIt! - RViz Plan and Execute](images/melodic/nextage_moveit_plan-execute.png) diff --git a/launch/default_warehouse_db.launch b/launch/default_warehouse_db.launch new file mode 100644 index 0000000..d04ee3b --- /dev/null +++ b/launch/default_warehouse_db.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/launch/demo.launch b/launch/demo.launch new file mode 100644 index 0000000..96ce157 --- /dev/null +++ b/launch/demo.launch @@ -0,0 +1,72 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + [/joint_states] + + + + + + + [move_group/fake_controller_joint_states] + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/launch/fake_moveit_controller_manager.launch.xml b/launch/fake_moveit_controller_manager.launch.xml new file mode 100644 index 0000000..fbaa2b2 --- /dev/null +++ b/launch/fake_moveit_controller_manager.launch.xml @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/launch/firefighter_moveit_controller_manager.launch.xml b/launch/firefighter_moveit_controller_manager.launch.xml new file mode 100644 index 0000000..e05197e --- /dev/null +++ b/launch/firefighter_moveit_controller_manager.launch.xml @@ -0,0 +1,10 @@ + + + + + + + + + diff --git a/launch/firefighter_moveit_sensor_manager.launch.xml b/launch/firefighter_moveit_sensor_manager.launch.xml new file mode 100644 index 0000000..5d02698 --- /dev/null +++ b/launch/firefighter_moveit_sensor_manager.launch.xml @@ -0,0 +1,3 @@ + + + diff --git a/launch/move_group.launch b/launch/move_group.launch new file mode 100644 index 0000000..ebc0b9b --- /dev/null +++ b/launch/move_group.launch @@ -0,0 +1,77 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/launch/moveit.rviz b/launch/moveit.rviz new file mode 100644 index 0000000..7265685 --- /dev/null +++ b/launch/moveit.rviz @@ -0,0 +1,250 @@ +Panels: + - Class: rviz/Displays + Help Height: 84 + Name: Displays + Property Tree Widget: + Expanded: + - /MotionPlanning1 + - /MotionPlanning1/Scene Geometry1 + - /MotionPlanning1/Scene Robot1 + - /MotionPlanning1/Planning Request1 + - /MotionPlanning1/Planned Path1 + Splitter Ratio: 0.742560029 + Tree Height: 325 + - Class: rviz/Help + Name: Help + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.0299999993 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Acceleration_Scaling_Factor: 1 + Class: moveit_rviz_plugin/MotionPlanning + Enabled: true + Move Group Namespace: "" + MoveIt_Allow_Approximate_IK: false + MoveIt_Allow_External_Program: false + MoveIt_Allow_Replanning: false + MoveIt_Allow_Sensor_Positioning: false + MoveIt_Goal_Tolerance: 0 + MoveIt_Planning_Attempts: 10 + MoveIt_Planning_Time: 5 + MoveIt_Use_Constraint_Aware_IK: true + MoveIt_Warehouse_Host: 127.0.0.1 + MoveIt_Warehouse_Port: 33829 + MoveIt_Workspace: + Center: + X: 0 + Y: 0 + Z: 0 + Size: + X: 2 + Y: 2 + Z: 2 + Name: MotionPlanning + Planned Path: + Color Enabled: false + Interrupt Display: false + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + link1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link6: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link7: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Loop Animation: false + Robot Alpha: 0.5 + Robot Color: 150; 50; 150 + Show Robot Collision: false + Show Robot Visual: true + Show Trail: false + State Display Time: 0.05 s + Trail Step Size: 1 + Trajectory Topic: move_group/display_planned_path + Planning Metrics: + Payload: 1 + Show Joint Torques: false + Show Manipulability: false + Show Manipulability Index: false + Show Weight Limit: false + TextHeight: 0.0799999982 + Planning Request: + Colliding Link Color: 255; 0; 0 + Goal State Alpha: 1 + Goal State Color: 250; 128; 0 + Interactive Marker Size: 0 + Joint Violation Color: 255; 0; 255 + Planning Group: mycobot_arm + Query Goal State: true + Query Start State: true + Show Workspace: false + Start State Alpha: 1 + Start State Color: 0; 255; 0 + Planning Scene Topic: move_group/monitored_planning_scene + Robot Description: robot_description + Scene Geometry: + Scene Alpha: 1 + Scene Color: 50; 230; 50 + Scene Display Time: 0.200000003 + Show Scene Geometry: true + Voxel Coloring: Z-Axis + Voxel Rendering: Occupied Voxels + Scene Robot: + Attached Body Color: 150; 50; 150 + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + link1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link6: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link7: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Robot Alpha: 0.5 + Show Robot Collision: false + Show Robot Visual: false + Value: true + Velocity_Scaling_Factor: 1 + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: link1 + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + Value: true + Views: + Current: + Class: rviz/XYOrbit + Distance: 1.39158678 + Enable Stereo Rendering: + Stereo Eye Separation: 0.0599999987 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0.113567002 + Y: 0.105920002 + Z: 2.23518001e-07 + Focal Shape Fixed Size: true + Focal Shape Size: 0.0500000007 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.00999999978 + Pitch: 0.439796686 + Target Frame: link1 + Value: XYOrbit (rviz) + Yaw: 2.5317657 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1028 + Help: + collapsed: false + Hide Left Dock: false + Hide Right Dock: false + MotionPlanning: + collapsed: false + MotionPlanning - Trajectory Slider: + collapsed: false + QMainWindow State: 000000ff00000000fd0000000100000000000002ad000003befc0200000007fb000000100044006900730070006c0061007900730100000028000001da000000d700fffffffb0000000800480065006c00700000000342000000bb0000007300fffffffb0000000a0056006900650077007300000003b0000000b0000000ad00fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c006900640065007201000002080000004a0000004a00fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000002580000018e0000018300ffffff00000471000003be00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Views: + collapsed: false + Width: 1828 + X: 92 + Y: 24 diff --git a/launch/moveit_rviz.launch b/launch/moveit_rviz.launch new file mode 100644 index 0000000..5fe4840 --- /dev/null +++ b/launch/moveit_rviz.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + diff --git a/launch/mycobot_interface.launch b/launch/mycobot_interface.launch new file mode 100644 index 0000000..ee7b83f --- /dev/null +++ b/launch/mycobot_interface.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/launch/ompl_planning_pipeline.launch.xml b/launch/ompl_planning_pipeline.launch.xml new file mode 100644 index 0000000..ab5d592 --- /dev/null +++ b/launch/ompl_planning_pipeline.launch.xml @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + diff --git a/launch/planning_context.launch b/launch/planning_context.launch new file mode 100644 index 0000000..9f7836c --- /dev/null +++ b/launch/planning_context.launch @@ -0,0 +1,24 @@ + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/launch/planning_pipeline.launch.xml b/launch/planning_pipeline.launch.xml new file mode 100644 index 0000000..ad86316 --- /dev/null +++ b/launch/planning_pipeline.launch.xml @@ -0,0 +1,10 @@ + + + + + + + + + diff --git a/launch/sensor_manager.launch.xml b/launch/sensor_manager.launch.xml new file mode 100644 index 0000000..efa9d65 --- /dev/null +++ b/launch/sensor_manager.launch.xml @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/launch/trajectory_execution.launch.xml b/launch/trajectory_execution.launch.xml new file mode 100644 index 0000000..c04721b --- /dev/null +++ b/launch/trajectory_execution.launch.xml @@ -0,0 +1,20 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/launch/warehouse.launch b/launch/warehouse.launch new file mode 100644 index 0000000..5c9ebab --- /dev/null +++ b/launch/warehouse.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/launch/warehouse_settings.launch.xml b/launch/warehouse_settings.launch.xml new file mode 100644 index 0000000..e473b08 --- /dev/null +++ b/launch/warehouse_settings.launch.xml @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/script/demo.py b/script/demo.py index 88287f3..1207b7f 100755 --- a/script/demo.py +++ b/script/demo.py @@ -12,10 +12,28 @@ # Waypoints for NEXTAGE OPEN waypoints = make_waypoints_example() + + waypoints_mycobot = make_waypoints_example('myCobot') rpy_nextage = [ 0.0, -math.pi/2, 0.0 ] waypoints_circular = make_waypoints_circular( rpy=rpy_nextage ) waypoints_rectangular = make_waypoints_rectangular( rpy=rpy_nextage ) + + rpy_mycobot = [ 0.0, -math.pi, 0.0 ] + dp_a_mycobot = [ 0.10, 0.10, 0.1 ] + dp_b_mycobot = [ 0.15, 0.15, 0.1 ] + center_mycobot = [ 0.13, 0.13, 0.1 ] + radius_mycobot = 0.03 + waypoints_mycobot_circular = make_waypoints_circular( + center=center_mycobot, + radius=radius_mycobot, + rpy=rpy_mycobot + ) + waypoints_mycobot_rectangular = make_waypoints_rectangular( + dp_a=dp_a_mycobot, + dp_b=dp_b_mycobot, + rpy=rpy_mycobot + ) # Start IPython Console rospy.loginfo( "[moveit_tutorial_tools] Start IPython Console" ) diff --git a/script/duaro_moveit_tutorial_poses_botharms.py b/script/duaro_moveit_tutorial_poses_botharms.py new file mode 100755 index 0000000..e0b2d56 --- /dev/null +++ b/script/duaro_moveit_tutorial_poses_botharms.py @@ -0,0 +1,110 @@ +#!/usr/bin/env python + +import sys, copy, os +import rospy + +from moveit_commander import MoveGroupCommander +from geometry_msgs.msg import Pose + +from tork_moveit_tutorial import init_node, question_yn, get_ros_version, normalize_orientation + + +if __name__ == '__main__': + + init_node() + + group = MoveGroupCommander("botharms") + + # Pose Target 1 + pose_target_uarm_1 = Pose() + pose_target_uarm_1.position.x = -0.4 + pose_target_uarm_1.position.y = 0.4 + pose_target_uarm_1.position.z = 1.0 + pose_target_uarm_1.orientation.x = 0.0 + pose_target_uarm_1.orientation.y = 0.0 + pose_target_uarm_1.orientation.z = 0.707 + pose_target_uarm_1.orientation.w = 0.707 + +# ros_version = get_ros_version() + ros_version = rospy.get_param('/rosdistro') + ros_version = ros_version.rstrip('\n') +# ros_version = os.environ["ROS_DISTRO"] + + if ros_version == 'kinetic': + pose_target_uarm_1 = normalize_orientation( pose_target_uarm_1 ) + + rospy.loginfo( "Right Arm Pose Target 1:\n{}".format( pose_target_uarm_1 ) ) + + pose_target_larm_1 = Pose() + pose_target_larm_1.position.x = pose_target_uarm_1.position.x * -1.0 + pose_target_larm_1.position.y = pose_target_uarm_1.position.y + pose_target_larm_1.position.z = pose_target_uarm_1.position.z + pose_target_larm_1.orientation.x = pose_target_uarm_1.orientation.x + pose_target_larm_1.orientation.y = pose_target_uarm_1.orientation.y + pose_target_larm_1.orientation.z = pose_target_uarm_1.orientation.z + pose_target_larm_1.orientation.w = pose_target_uarm_1.orientation.w + + if ros_version == 'kinetic': + pose_target_larm_1 = normalize_orientation( pose_target_larm_1 ) + + rospy.loginfo( "Left Arm Pose Target 1:\n{}".format( pose_target_larm_1 ) ) + + group.set_pose_target( pose_target_uarm_1, 'upper_link_j4' ) + group.set_pose_target( pose_target_larm_1, 'lower_link_j4' ) + group.plan() + group.go() + + # Pose Target 2 + pose_target_uarm_2 = Pose() + pose_target_uarm_2.position.x = -0.5 + pose_target_uarm_2.position.y = 0.0 + pose_target_uarm_2.position.z = 1.0 + + if ros_version == 'kinetic': + pose_target_uarm_2 = normalize_orientation( pose_target_uarm_2 ) + + rospy.loginfo( "Right Arm Pose Target 2:\n{}".format( pose_target_uarm_2 ) ) + + pose_target_larm_2 = Pose() + pose_target_larm_2.position.x = pose_target_uarm_2.position.x * -1.0 + pose_target_larm_2.position.y = pose_target_uarm_2.position.y + pose_target_larm_2.position.z = pose_target_uarm_2.position.z + pose_target_larm_2.orientation.x = pose_target_uarm_2.orientation.x + pose_target_larm_2.orientation.y = pose_target_uarm_2.orientation.y + pose_target_larm_2.orientation.z = pose_target_uarm_2.orientation.z + pose_target_larm_2.orientation.w = pose_target_uarm_2.orientation.w + + if ros_version == 'kinetic': + pose_target_larm_2 = normalize_orientation( pose_target_larm_2 ) + + rospy.loginfo( "Left Arm Pose Target 2:\n{}".format( pose_target_larm_2 ) ) + + # Move to Pose Target 1 + rospy.loginfo( "Move to Pose Target 1" ) + group.set_pose_target( pose_target_uarm_1, 'upper_link_j4' ) + group.set_pose_target( pose_target_larm_1, 'lower_link_j4' ) + group.go() + + # Move to Pose Target 2 + rospy.loginfo( "Move to Pose Target 2" ) + group.set_pose_target( pose_target_uarm_2, 'upper_link_j4' ) + group.set_pose_target( pose_target_larm_2, 'lower_link_j4' ) + group.go() + + # Pose Target 1 & 2 Mixture + rospy.loginfo( "Move to Pose Target Right:1 Left:2" ) + group.set_pose_target( pose_target_uarm_1, 'upper_link_j4' ) + group.set_pose_target( pose_target_larm_2, 'lower_link_j4' ) + group.go() + + rospy.loginfo( "Move to Pose Target Right:2 Left:1" ) + group.set_pose_target( pose_target_uarm_2, 'upper_link_j4' ) + group.set_pose_target( pose_target_larm_1, 'lower_link_j4' ) + group.go() + + # Back to Pose Target 1 + rospy.loginfo( "Go Back to Pose Target 1" ) + group.set_pose_target( pose_target_uarm_1, 'upper_link_j4' ) + group.set_pose_target( pose_target_larm_1, 'lower_link_j4' ) + group.go() + diff --git a/script/duaro_moveit_tutorial_poses_lower_arm.py b/script/duaro_moveit_tutorial_poses_lower_arm.py new file mode 100755 index 0000000..783fcd9 --- /dev/null +++ b/script/duaro_moveit_tutorial_poses_lower_arm.py @@ -0,0 +1,48 @@ +#!/usr/bin/env python + +import sys, copy +import rospy + +from moveit_commander import MoveGroupCommander +from geometry_msgs.msg import Pose + +from tork_moveit_tutorial import init_node, question_yn + + +if __name__ == '__main__': + + init_node() + + group = MoveGroupCommander("lower_arm") + + # Pose Target 1 + rospy.loginfo( "Start Pose Target 1") + pose_target_1 = Pose() + + pose_target_1.position.x = 0.0 + pose_target_1.position.y = 0.55 + pose_target_1.position.z = 1.0 + pose_target_1.orientation.x = 0.0 + pose_target_1.orientation.y = 0.0 + pose_target_1.orientation.z = 0.707 + pose_target_1.orientation.w = 0.707 + + rospy.loginfo( "Set Target to Pose:\n{}".format( pose_target_1 ) ) + group.set_pose_target( pose_target_1 ) + group.go() + + # Pose Target 2 + rospy.loginfo( "Start Pose Target 2") + pose_target_2 = Pose() + + pose_target_2.position.x = 0.55 + pose_target_2.position.y = 0 + pose_target_2.position.z = 1.05 + pose_target_2.orientation.z = 0.707 + pose_target_2.orientation.w = 0.707 + + rospy.loginfo( "Set Target to Pose:\n{}".format( pose_target_2 ) ) + group.set_pose_target( pose_target_2 ) + group.go() + + diff --git a/script/duaro_moveit_tutorial_poses_relative.py b/script/duaro_moveit_tutorial_poses_relative.py new file mode 100755 index 0000000..8f0ee40 --- /dev/null +++ b/script/duaro_moveit_tutorial_poses_relative.py @@ -0,0 +1,82 @@ +#!/usr/bin/env python + +import sys, copy +import rospy + +from moveit_commander import MoveGroupCommander +from geometry_msgs.msg import Pose, PoseStamped + +from tork_moveit_tutorial import init_node + + +if __name__ == '__main__': + + init_node() + + # Preparing Lower Arm + rospy.loginfo( "Preparing Lower Arm..." ) + larmg = MoveGroupCommander("lower_arm") + larm_init_pose = Pose() + larm_init_pose.position.x = 0.1 + larm_init_pose.position.y = 0.5 + larm_init_pose.position.z = 1.0 + larm_init_pose.orientation.x = 0.0 + larm_init_pose.orientation.y = 0.0 + larm_init_pose.orientation.z = 0.707 + larm_init_pose.orientation.w = 0.707 + larmg.set_pose_target(larm_init_pose) + larmg.go() + + + # Upper Arm + group = MoveGroupCommander("upper_arm") + + initial_reference_frame = group.get_pose_reference_frame() + rospy.loginfo( "Initial Reference Frame: {}".format( initial_reference_frame ) ) + + initial_pose = group.get_current_pose() + rospy.loginfo( "Initial Pose:\n{}".format( initial_pose ) ) + + # Relative Target Pose + target_pose = Pose() + target_pose.position.x = 0.2 + target_pose.orientation.w = 1.0 + + # Relative Target with PoseStamped + rospy.loginfo( "Using PoseStamped" ) + + target_posestamped = PoseStamped() + target_posestamped.pose.position.x = 0.2 + target_posestamped.pose.orientation.w = 1.0 + target_posestamped.header.frame_id = '/lower_link_j4' + target_posestamped.header.stamp = rospy.Time.now() + + rospy.loginfo( "Target Pose:\n{}".format( target_posestamped ) ) + group.set_pose_target( target_posestamped ) + group.go() + + rospy.loginfo( "Current Reference Frame: {}".format( group.get_pose_reference_frame() ) ) + + # Go Back to Initial Pose + group.set_pose_target( initial_pose.pose ) + group.go() + + # Relative Target with set_pose_reference_frame + rospy.loginfo( "Using set_pose_refercence_frame() and Pose" ) + + group.set_pose_reference_frame( '/lower_link_j4' ) + rospy.loginfo( "Current Reference Frame: {}".format( group.get_pose_reference_frame() ) ) + rospy.loginfo( "Target Pose:\n{}".format( target_pose ) ) + + group.set_pose_target( target_pose ) + group.go() + + # Reset Pose Reference Frame + group.set_pose_reference_frame( initial_reference_frame ) + rospy.loginfo( "Current Reference Frame: {}".format( group.get_pose_reference_frame() ) ) + + # Go Back to Initial Pose + rospy.loginfo( "Go Back to Initial Pose..." ) + group.set_pose_target( initial_pose ) + group.go() + diff --git a/script/mycobot_interface.py b/script/mycobot_interface.py new file mode 100755 index 0000000..70ad6ce --- /dev/null +++ b/script/mycobot_interface.py @@ -0,0 +1,352 @@ +#!/usr/bin/env python +import time +import os +import sys +import signal +import threading +import math +from itertools import izip_longest # TODO: python3 is zip_longest +zip_longest = izip_longest + +from pymycobot.mycobot import MyCobot + +import rospy +import actionlib +from control_msgs.msg import FollowJointTrajectoryAction, FollowJointTrajectoryResult, FollowJointTrajectoryFeedback, GripperCommandAction, GripperCommandResult, GripperCommandFeedback +from sensor_msgs.msg import JointState +from geometry_msgs.msg import PoseStamped +from std_srvs.srv import SetBool, SetBoolResponse +import tf +import numpy as np + + +class MycobotInterface(object): + + def __init__(self): + port = rospy.get_param("~port", "/dev/ttyUSB0") + baud = rospy.get_param("~baud", 115200) + self.vel_rate = rospy.get_param("~vel_rate", 32.0) # bit/rad + self.min_vel = rospy.get_param("~min_vel", 10) # bit, for the bad velocity tracking of mycobot. + rospy.loginfo("Connect mycobot on %s,%s" % (port, baud)) + self.mc = MyCobot(port, baud) + self.lock = threading.Lock() + + self.joint_angle_pub = rospy.Publisher("joint_states", JointState, queue_size=5) + self.real_angles = None + self.joint_command_sub = rospy.Subscriber("joint_command", JointState, self.joint_command_cb) + + self.pub_end_coord = rospy.get_param("~pub_end_coord", False) + if self.pub_end_coord: + self.end_coord_pub = rospy.Publisher("end_coord", PoseStamped, queue_size=5) + + self.servo_srv = rospy.Service("set_servo", SetBool, self.set_servo_cb) + + # action server for joint and gripper + self.joint_as = actionlib.SimpleActionServer("arm_controller/follow_joint_trajectory", FollowJointTrajectoryAction, execute_cb=self.joint_as_cb, auto_start=False) + self.joint_as.start() + + self.get_joint_state = True + + def run(self): + + r = rospy.Rate(rospy.get_param("~joint_state_rate", 20.0)) # hz + + while not rospy.is_shutdown(): + + # get real joint from MyCobot + if self.get_joint_state: + real_angles = self.mc.get_angles() + + # the duration is over the sending loop, not good + # self.lock.acquire() + # real_angles = self.mc.get_angles() + # self.lock.release() + + if len(real_angles) != 6: # we assume mycobot only have 6 DoF of joints + rospy.logwarn("empty joint angles!!!") + else: + self.real_angles = real_angles + + if self.real_angles: + rospy.logdebug_throttle(1.0, "get real angles from mycobot") + + msg = JointState() + msg.header.stamp = rospy.get_rostime() + + for i, ang in enumerate(self.real_angles): + msg.name.append('joint' + str(i+1)) + msg.position.append(ang / 180.0 * math.pi) + self.joint_angle_pub.publish(msg) + + # Get end-effector if necessary (use tf by ros in default) + if self.pub_end_coord: + coords = self.mc.get_coords() + if coords: + msg = PoseStamped + msg.header.stamp = rospy.get_rostime() + msg.pose.position.x = coords[0] + msg.pose.position.y = coords[1] + msg.pose.position.z = coords[2] + q = tf.transformations.quaternion_from_euler(coords[3], coords[4], coords[5]) + msg.poseq.quaternion.x = q[0] + msg.poseq.quaternion.y = q[1] + msg.poseq.quaternion.z = q[2] + msg.poseq.quaternion.w = q[3] + self.end_coord_pub.publish(msg) + + r.sleep() + + def joint_command_cb(self, msg): + angles = self.real_angles + vel = 50 # deg/s, hard-coding + for n, p, v in zip_longest(msg.name, msg.position, msg.velocity): + id = int(n[-1]) - 1 + if 'joint' in n and id >= 0 and id < len(angles): + if math.fabs(p) < 190.0 / 180 * math.pi: # 190 should be retrieved from API + angles[id] = p * 180 / math.pi + else: + rospy.logwarn("%s exceeds the limit, %f", n, p) + if v: + v = v * 180 / math.pi + if v < vel: + vel = v + + print(angles, vel) + self.lock.acquire() + self.mc.send_angles(angles, vel) + self.lock.release() + + def set_servo_cb(self, req): + if req.data: + self.lock.acquire() + self.mc.send_angles(self.real_angles, 0) + self.lock.release() + rospy.loginfo("servo on") + else: + self.lock.acquire() + self.mc.release_all_servos() + self.lock.release() + rospy.loginfo("servo off") + + return SetBoolResponse(True, "") + + def joint_as_cb(self, goal): + + # Error case1 + if not self.real_angles: + res = FollowJointTrajectoryResult() + res.error_code = FollowJointTrajectoryResult.INVALID_JOINTS + msg = "Real joint angles are empty!" + rospy.logerr(msg); + self.joint_as.set_aborted(res, msg) + return + + # Error case2 + if len(self.real_angles) != len(goal.trajectory.joint_names): + res = FollowJointTrajectoryResult() + res.error_code = FollowJointTrajectoryResult.INVALID_JOINTS + msg = "Incoming trajectory joints do not match the joints of the controller" + rospy.logerr(msg); + self.joint_as.set_aborted(res, msg) + return + + # Error case3: make sure trajectory is not empty + if len(goal.trajectory.points) == 0: + res = FollowJointTrajectoryResult() + res.error_code = FollowJointTrajectoryResult.INVALID_GOAL + msg = "Incoming trajectory is empty" + rospy.logerr(msg); + self.joint_as.set_aborted(res, msg) + return + + + # correlate the joints we're commanding to the joints in the message + durations = [] + + # num_points = len(goal.trajectory.points); + points = goal.trajectory.points + # find out the duration of each segment in the trajectory + durations.append(points[0].time_from_start) + + for i in range(1, len(goal.trajectory.points)): + durations.append(points[i].time_from_start - points[i-1].time_from_start); + + # Error case4: empty + if not points[0].positions: + msg = "First point of trajectory has no positions" + res = FollowJointTrajectoryResult() + res.error_code = FollowJointTrajectoryResult.INVALID_GOAL + rospy.logerr(msg); + self.joint_as.set_aborted(res, msg) + return + + trajectory = [] + time = rospy.Time.now() + rospy.Duration(0.01) + + for i in range(len(points)): + seg_start_time = 0; + seg_duration = 0; + seg = {} + + if goal.trajectory.header.stamp == rospy.Time(): + seg['start_time'] = (time + points[i].time_from_start) - durations[i] + else: + seg['start_time'] = (goal.trajectory.header.stamp + points[i].time_from_start) - durations[i] + + seg['end_time'] = seg['start_time'] + durations[i]; + + # Checks that the incoming segment has the right number of elements. + if len(points[i].velocities) > 0 and len(points[i].velocities) != len(goal.trajectory.joint_names): + msg = "Command point " + str(i+1) + " has wrong amount of velocities" + res = FollowJointTrajectoryResult() + res.error_code = FollowJointTrajectoryResult.INVALID_GOAL + rospy.logerr(msg); + self.joint_as.set_aborted(res, msg) + return + + if len(points[i].positions) != len(goal.trajectory.joint_names): + msg = "Command point " + str(i+1) + " has wrong amount of positions" + res = FollowJointTrajectoryResult() + res.error_code = FollowJointTrajectoryResult.INVALID_GOAL + rospy.logerr(msg); + self.joint_as.set_aborted(res, msg) + return + + if len(points[i].velocities) > 0: + seg['velocities'] = points[i].velocities + seg['positions'] = points[i].positions + + trajectory.append(seg); + + + ## wait for start + rospy.loginfo("Trajectory start requested at %.3lf, waiting...", goal.trajectory.header.stamp.to_sec()) + r = rospy.Rate(100) + while (goal.trajectory.header.stamp - time).to_sec() > 0: + time = rospy.Time.now() + r.sleep() + total_duration = sum(map(lambda du: du.to_sec(), durations)) + rospy.loginfo("Trajectory start time is %.3lf, end time is %.3lf, total duration is %.3lf", time.to_sec(), time.to_sec() + total_duration, total_duration); + + + feedback = FollowJointTrajectoryFeedback() + feedback.joint_names = goal.trajectory.joint_names; + feedback.header.stamp = time; + + for i, seg in enumerate(trajectory): + + if durations[i] == 0: + rospy.logdebug("skipping segment %d with duration of 0 seconds", i); + continue; + + target_angles = np.array(seg['positions']) * 180 / np.pi + actual_angles = np.array(self.real_angles); + + # workaround to solve bad joint velocity control + if len(trajectory) == 1: # only has the goal angle position, calculate the average velocity + vel = (target_angles - np.array(self.real_angles)) / durations[i].to_sec() * np.pi / 180.0 + vel = int(np.max(np.abs(vel)) * self.vel_rate ) + else: + vel = int(np.max(np.abs(seg['velocities'])) * self.vel_rate) + if vel < self.min_vel: # workaround to solve the bad velocity tracking of mycobot + vel = self.min_vel + # vel = 0 # zero in pymycobot is the max speed + + self.lock.acquire() + self.mc.send_angles(target_angles.tolist(), vel) + self.lock.release() + + # workaround: pure feedforwad style to address the polling/sending conflict problem in mycobot pro 320 + if not self.get_joint_state: + if len(trajectory) == 1: # only has the goal angle position + self.get_joint_state= True + else: + self.real_angles = target_angles.tolist() + + while time.to_sec() < seg["end_time"].to_sec(): + + rospy.logdebug("Current segment is %d time left %f cur time %f", i, (durations[i] - (time - seg["start_time"])).to_sec(), time.to_sec()); + + # check if new trajectory was received, if so abort current trajectory execution + # by setting the goal to the current position + if self.joint_as.is_preempt_requested(): + + self.lock.acquire() + self.mc.send_angles(self.real_angles, 0) + self.lock.release() + + self.joint_as.set_preempted() + if self.joint_as.is_new_goal_available(): + rospy.logwarn("New trajectory received. Aborting old trajectory."); + else: + rospy.logwarn("Canceled trajectory following action"); + + self.get_joint_state = True + return; + + + if (time - feedback.header.stamp).to_sec() > 0.1: # 10 Hz + + feedback.header.stamp = time; + feedback.desired.positions = (target_angles / 180 * np.pi).tolist() + feedback.actual.positions = (actual_angles / 180 * np.pi).tolist() + feedback.error.positions = ((target_angles - actual_angles) / 180 * np.pi).tolist() + self.joint_as.publish_feedback(feedback); + + + r.sleep(); + time = rospy.Time.now() + + # Verify trajectory constraints + for tol in goal.path_tolerance: + index = goal.trajectory.joint_names.index(tol.name) + pos_err = np.fabs(target_angles - actual_angles)[index] / 180 * np.pi; + + if tol.position > 0 and pos_err > tol.position: + msg = "Unsatisfied position tolerance for " + tol.name + \ + ", trajectory point" + str(i+1) + ", " + str(pos_err) + \ + " is larger than " + str(tol.position); + + + rospy.logwarn(msg); + res = FollowJointTrajectoryResult() + res.error_code = FollowJointTrajectoryResult.PATH_TOLERANCE_VIOLATED + rospy.logwarn(msg); + self.joint_as.set_aborted(res, msg) + + self.get_joint_state = True + return; + + # Checks that we have ended inside the goal constraints + if not self.get_joint_state: + actual_angles = np.array(self.mc.get_angles()) + for tol in goal.goal_tolerance: + index = goal.trajectory.joint_names.index(tol.name) + + pos_err = np.fabs(target_angles - actual_angles)[index] / 180 * np.pi + if tol.position > 0 and pos_err > tol.position: + msg = "Aborting because " + tol.name + \ + " wound up outside the goal constraints, " + \ + str(pos_err) + " is larger than " + str(tol.position) + + rospy.logwarn(msg); + res = FollowJointTrajectoryResult() + res.error_code = FollowJointTrajectoryResult.GOAL_TOLERANCE_VIOLATED + rospy.logwarn(msg); + self.joint_as.set_aborted(res, msg) + return; + + + msg = "Trajectory execution successfully completed" + rospy.loginfo(msg) + res = FollowJointTrajectoryResult() + res.error_code = FollowJointTrajectoryResult.SUCCESSFUL; + self.joint_as.set_succeeded(res, msg); + + self.get_joint_state = True + +if __name__ == "__main__": + rospy.init_node("mycobot_topics") + mc_inteface = MycobotInterface() + mc_inteface.run() + pass diff --git a/script/mycobot_moveit_tutorial_poses.py b/script/mycobot_moveit_tutorial_poses.py index 9f14f26..f2ef991 100755 --- a/script/mycobot_moveit_tutorial_poses.py +++ b/script/mycobot_moveit_tutorial_poses.py @@ -13,9 +13,9 @@ pose_target_1 = Pose() # quaternion_from_euler(0, 0, -1.57079) - pose_target_1.position.x = 0.3 + pose_target_1.position.x = 0.2 pose_target_1.position.y = 0.0 - pose_target_1.position.z = 0.3 + pose_target_1.position.z = 0.2 pose_target_1.orientation.x = 0.0 pose_target_1.orientation.y = 0.0 pose_target_1.orientation.z = -0.7071 @@ -30,8 +30,8 @@ pose_target_2 = Pose() pose_target_2.position.x = 0.0 - pose_target_2.position.y =-0.3 - pose_target_2.position.z = 0.3 + pose_target_2.position.y =-0.2 + pose_target_2.position.z = 0.2 pose_target_2.orientation.z = -0.7071 pose_target_2.orientation.w = 0.7071 diff --git a/script/mycobot_moveit_tutorial_poses_for.py b/script/mycobot_moveit_tutorial_poses_for.py new file mode 100755 index 0000000..0df5355 --- /dev/null +++ b/script/mycobot_moveit_tutorial_poses_for.py @@ -0,0 +1,41 @@ +#!/usr/bin/env python + +import sys, copy +import rospy + +from moveit_commander import MoveGroupCommander +from geometry_msgs.msg import Pose + +from tork_moveit_tutorial import init_node, question_yn + + +if __name__ == '__main__': + + init_node() + group = MoveGroupCommander("arm_group") + + # Pose Target 1 + rospy.loginfo( "Start Pose Target 1") + pose_target_1 = Pose() + + pose_target_1.position.x = 0.15 + pose_target_1.position.y = 0.0 + pose_target_1.position.z = 0.1 + pose_target_1.orientation.x = 0.0 + pose_target_1.orientation.y = -1.0 + pose_target_1.orientation.z = 0.0 + pose_target_1.orientation.w = 0.0 + + step = -0.03 + + for i in range(5): + pose_target_1.position.y = i * step + rospy.loginfo( "Set Target to Pose No.{}:\n{}".format( i, pose_target_1 ) ) + + group.set_pose_target( pose_target_1 ) + + if question_yn( "Start moving to target No.{} ?".format( i ) ): + group.go() + else: + rospy.loginfo( "Skipped Pose No.{}".format( i ) ) + diff --git a/script/mycobot_moveit_tutorial_poses_ifqyn.py b/script/mycobot_moveit_tutorial_poses_ifqyn.py new file mode 100755 index 0000000..8575010 --- /dev/null +++ b/script/mycobot_moveit_tutorial_poses_ifqyn.py @@ -0,0 +1,50 @@ +#!/usr/bin/env python + +import sys, copy +import rospy + +from moveit_commander import MoveGroupCommander +from geometry_msgs.msg import Pose + +from tork_moveit_tutorial import init_node, question_yn + + +if __name__ == '__main__': + + init_node() + group = MoveGroupCommander("arm_group") + + # Pose Target 1 + rospy.loginfo( "Start Pose Target 1") + pose_target_1 = Pose() + + pose_target_1.position.x = 0.1 + pose_target_1.position.y = -0.1 + pose_target_1.position.z = 0.1 + pose_target_1.orientation.x = 0.0 + pose_target_1.orientation.y = -0.707 + pose_target_1.orientation.z = 0.0 + pose_target_1.orientation.w = 0.707 + + rospy.loginfo( "Set Target to Pose:\n{}".format( pose_target_1 ) ) + group.set_pose_target( pose_target_1 ) + + if question_yn( "Start moving to target 1 ?" ): + group.go() + + # Pose Target 2 + rospy.loginfo( "Start Pose Target 2") + pose_target_2 = Pose() + + pose_target_2.position.x = 0.1 + pose_target_2.position.y = -0.1 + pose_target_2.position.z = 0.2 + pose_target_2.orientation.y = -1.0 + + rospy.loginfo( "Set Target to Pose:\n{}".format( pose_target_2 ) ) + group.set_pose_target( pose_target_2 ) + + if question_yn( "Start moving to target 2 ?" ): + group.go() + + diff --git a/script/mycobot_moveit_tutorial_poses_rate.py b/script/mycobot_moveit_tutorial_poses_rate.py new file mode 100755 index 0000000..7997fe6 --- /dev/null +++ b/script/mycobot_moveit_tutorial_poses_rate.py @@ -0,0 +1,47 @@ +#!/usr/bin/env python + +import sys, copy +import rospy + +from moveit_commander import MoveGroupCommander +from geometry_msgs.msg import Pose + +from tork_moveit_tutorial import init_node + + +if __name__ == '__main__': + + init_node() + group = MoveGroupCommander("arm_group") + + # Pose Target 1 + pose_target_1 = Pose() + + pose_target_1.position.x = 0.15 + pose_target_1.position.y = 0.0 + pose_target_1.position.z = 0.1 + pose_target_1.orientation.x = 0.0 + pose_target_1.orientation.y = -1.0 + pose_target_1.orientation.z = 0.0 + pose_target_1.orientation.w = 0.0 + + rospy.loginfo( "Start Move Loop / Ctrl-C to Stop \nWaiting 5 seconds" ) + rospy.sleep(5.0) + + step = -0.01 + + rate = rospy.Rate(0.2) + while not rospy.is_shutdown(): + + rospy.loginfo( "Set Target to Pose:\n{}".format( pose_target_1 ) ) + group.set_pose_target( pose_target_1 ) + group.plan() + group.go() + + pose_target_1.position.y += step + if pose_target_1.position.y < -0.15: + pose_target_1.position.y = 0.0 + + rospy.loginfo( "Waiting Next... / Ctrl-C to Stop" ) + rate.sleep() + diff --git a/src/tork_moveit_tutorial/moveit_tutorial_tools.py b/src/tork_moveit_tutorial/moveit_tutorial_tools.py index 507e0ec..1490f3b 100755 --- a/src/tork_moveit_tutorial/moveit_tutorial_tools.py +++ b/src/tork_moveit_tutorial/moveit_tutorial_tools.py @@ -158,6 +158,35 @@ def make_waypoints_example( rtype="NEXTAGE" ): # 4th Pose pose_target.position.y = -0.5 wpts.append( copy.deepcopy( pose_target ) ) + elif rtype == "myCobot": + # 1st Pose + pose_target = Pose() + pose_target.position.x = 0.1 + pose_target.position.y = -0.1 + pose_target.position.z = 0.1 + pose_target.orientation.x = 0.0 + pose_target.orientation.y = -0.707 + pose_target.orientation.z = 0.0 + pose_target.orientation.w = 0.707 + wpts.append( copy.deepcopy( pose_target ) ) + + # 2nd Pose + pose_target.position.y = -0.15 + wpts.append( copy.deepcopy( pose_target ) ) + + # 3rd Pose + pose_target.position.x = 0.1 + pose_target.position.y = -0.1 + pose_target.position.z = 0.2 + pose_target.orientation.x = 0.0 + pose_target.orientation.y = -1.0 + pose_target.orientation.z = 0.0 + pose_target.orientation.w = 0.0 + wpts.append( copy.deepcopy( pose_target ) ) + + # 4th Pose + pose_target.position.y = -0.2 + wpts.append( copy.deepcopy( pose_target ) ) return wpts diff --git a/urdf/common.xacro b/urdf/common.xacro new file mode 100644 index 0000000..7556dad --- /dev/null +++ b/urdf/common.xacro @@ -0,0 +1,29 @@ + + + + + + + + + + + + + + + + + + + + + + + diff --git a/urdf/mycobot/mesh/link1.dae b/urdf/mycobot/mesh/link1.dae new file mode 100644 index 0000000..6f6a6ab --- /dev/null +++ b/urdf/mycobot/mesh/link1.dae @@ -0,0 +1,119 @@ + + + + + VCGLab + VCGLib | MeshLab + + Thu Sept 16 08:34:27 2021 GMT + Thu Sept 16 08:34:27 2021 GMT + Y_UP + + + + link1.png + + + + + + + + + + + + + texture0 + R8G8B8 + + + + + texture0-surface + LINEAR + LINEAR + + + + + + 0 0 0 1 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+ + + + + + + + + + + + + + + + + + + + + + + diff --git a/urdf/mycobot/mesh/link7.png b/urdf/mycobot/mesh/link7.png new file mode 100644 index 0000000..ed421fa Binary files /dev/null and b/urdf/mycobot/mesh/link7.png differ diff --git a/urdf/mycobot/mycobot.gazebo.xacro b/urdf/mycobot/mycobot.gazebo.xacro new file mode 100644 index 0000000..c022870 --- /dev/null +++ b/urdf/mycobot/mycobot.gazebo.xacro @@ -0,0 +1,18 @@ + + + + + + + + + + $(arg robot_namespace) + gazebo_ros_control/DefaultRobotHWSim + false + + + + + + diff --git a/urdf/mycobot/mycobot.urdf.xacro b/urdf/mycobot/mycobot.urdf.xacro new file mode 100644 index 0000000..e92e18d --- /dev/null +++ b/urdf/mycobot/mycobot.urdf.xacro @@ -0,0 +1,288 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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transmission_interface/SimpleTransmission + + hardware_interface/PositionJointInterface + + + hardware_interface/PositionJointInterface + 1 + + + + + diff --git a/urdf/mycobot/mycobot_with_vision.urdf b/urdf/mycobot/mycobot_with_vision.urdf new file mode 100644 index 0000000..a046eae --- /dev/null +++ b/urdf/mycobot/mycobot_with_vision.urdf @@ -0,0 +1,199 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/urdf/mycobot/suit_env.dae b/urdf/mycobot/suit_env.dae new file mode 100644 index 0000000..a2b57b1 --- /dev/null +++ b/urdf/mycobot/suit_env.dae @@ -0,0 +1,66 @@ + + + + + VCGLab + VCGLib | MeshLab + + Thu Sept 16 08:38:04 2021 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