robo-gym-robot-servers

Repository containing Robot Servers ROS packages for the robo-gym toolkit.

The robo-gym-robot-servers provide an interface to the Gazebo simulations and to the real robots.

• Supported Systems
• Installation
• How to use
• Troubleshooting
• Examples

Supported Systems

Recommended System Setup: Ubuntu 20.04 - ROS Noetic - Python [>3.7]

The packages are being developed for ROS Noetic.

Robots currently implemented

• MiR100
• Universal Robots: UR3, UR3e, UR5, UR5e, UR10, UR10e, UR16

Installation

Ubuntu 20.04 - ROS Noetic - Python [>3.7]

1. Setup your computer to accept software from packages.ros.org

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-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

2. Install the required packages

sudo apt-get update && sudo apt-get install apt-utils build-essential psmisc vim-gtk git swig sudo libcppunit-dev python3-catkin-tools python3-rosdep python3-pip python3-rospkg python3-future python3-osrf-pycommon

3. Open a new terminal and set the environment variables. Use the same terminal for all the installation steps.

# Set robo-gym ROS workspace folder
export ROBOGYM_WS=~/robogym_ws 
# Set ROS distribution
export ROS_DISTRO=noetic

4. Create a workspace folder in the home folder of your PC and clone this repository

mkdir -p $ROBOGYM_WS/src && cd $ROBOGYM_WS/src && git clone https://github.com/jr-robotics/robo-gym-robot-servers.git

5. Clone required packages, build the workspace and install required python modules

git clone -b $ROS_DISTRO https://github.com/jr-robotics/mir_robot.git
git clone -b $ROS_DISTRO https://github.com/jr-robotics/universal_robot.git
git clone -b v0.7.1-dev https://github.com/jr-robotics/franka_ros_interface
git clone https://github.com/jr-robotics/franka_panda_description
git clone -b ${ROS_DISTRO}-devel https://github.com/jr-robotics/panda_simulator
git clone https://github.com/orocos/orocos_kinematics_dynamics
cd orocos_kinematics_dynamics && git checkout b35c424e77ebc5b7e6f1c5e5c34f8a4666fbf5bc
cd $ROBOGYM_WS
sudo apt-get update
sudo rosdep init
rosdep update
rosdep install --from-paths src -i -y --rosdistro $ROS_DISTRO
catkin init
source /opt/ros/$ROS_DISTRO/setup.bash
catkin build
pip3 install robo-gym-server-modules scipy numpy
pip3 install --upgrade protobuf

6. Add the sourcing of ROS and the ROS workspace to your .bashrc file:

printf "source /opt/ros/$ROS_DISTRO/setup.bash\nsource $ROBOGYM_WS/devel/setup.bash" >> ~/.bashrc

How to use

MiR100

Simulated Robot

Simulated Robot Servers are handled by the Server Manager. If you want to manually start a Simulated Robot Server use:

roslaunch mir100_robot_server sim_robot_server.launch gui:=true

Real Robot

• Connect to the robot's network

In a terminal window:

• Set ROS Master IP: export ROS_MASTER_URI=http://192.168.12.20:11311
• Launch MiR100 Robot Server roslaunch mir100_robot_server real_robot_server.launch gui:=true

Universal Robots

Simulated Robot

Simulated Robot Servers are handled by the Server Manager. If you want to manually start a Simulated Robot Server use:

roslaunch ur_robot_server ur_robot_server.launch ur_model:=ur10  gui:=true

Real Robot Server

Install UR ROS Driver

To control the UR Robots we use the new UR ROS Driver. At the current status the UR ROS Driver and the Universal_robot package use two different robot descriptions, for this reason it is needed to setup the UR ROS Driver in a separate workspace to avoid conflicts between the two packages.

# Source ROS 
source /opt/ros/$ROS_DISTRO/setup.bash

# Create a new folder for the workspace
mkdir -p ~/urdriver_ws/src
cd ~/urdriver_ws
catkin init

# Clone the necessary packages
cd ~/urdriver_ws/src
git clone https://github.com/jr-robotics/Universal_Robots_ROS_Driver.git
git clone -b calibration_devel https://github.com/fmauch/universal_robot.git

# Install dependencies
cd ~/urdriver_ws
sudo apt update -qq
rosdep update
rosdep install --from-paths src --ignore-src -y

# Build the workspace
catkin build

For additional instructions on how to setup the driver on the robot follow the README of the UR ROS Driver.

How to use

NOTE: The following instructions and command lines have been written for the UR 10 but they apply to all the supported UR robots, for instance for using the UR 5 Robot Server it is sufficient to replace ur10 with ur5 in all the following command lines.

• Connect to the robot's network

In a terminal window start the UR ROS driver:

# Source ROS 
source /opt/ros/$ROS_DISTRO/setup.bash

# source the UR ROS Driver workspace
source ~/urdriver_ws/devel/setup.bash

# start the Driver (replace with the IP of your robot)
roslaunch ur_robot_driver ur10_bringup.launch robot_ip:=192.168.12.70

In another terminal window start the Robot Server

# Source ROS 
source /opt/ros/$ROS_DISTRO/setup.bash

# source robo-gym workspace
source ~/robogym_ws/devel/setup.bash

# start the Robot Server
roslaunch ur_robot_server ur_robot_server.launch ur_model:=ur10 real_robot:=true gui:=true max_torque_scale_factor:=0.5 max_velocity_scale_factor:=0.5 speed_scaling:=0.5

Troubleshooting

The Robot Server uses the standard ROS logging system, you can find the latest log of the Robot Server at: .ros/log/latest/robot_server-*.log

Examples

See example_robot_server for a basic implementation of a Robot Server reduced to its minimum form. The example implements a Robot Server for the robot MiR100 with basic functionality and it is meant as a good place to start from to implement a Robot Server for your own robot.