Differences

This shows you the differences between two versions of the page.

Link to this comparison view

Both sides previous revision Previous revision
Next revision
Previous revision
Last revision Both sides next revision
hardware:rb1_quickstart [2021/02/12 13:45]
cedric.lb
hardware:rb1_quickstart [2021/02/12 14:23]
cedric.lb [From the rb1 directly]
Line 7: Line 7:
 ===== Prerequisites ===== ===== Prerequisites =====
  
-Installing ​ROS.+==== ROS ==== 
 + 
 +ROS 
 + 
 +If it hasn't been done already, the first step is to install ​ROS. The installation process and required ROS version vary depending on the OS. The simulation has been tested on ROS melodic and kinetic. 
 + 
 +ROS Melodic (Ubuntu 18.04): http://​wiki.ros.org/​melodic/​Installation 
 +ROS Kinetic (Ubuntu 16.04): http://​wiki.ros.org/​kinetic/​Installation 
 + 
 +If this is your first time using ROS, it is recommended to follow the tutorials at: http://​wiki.ros.org/​ROS/​Tutorials 
 + 
 +The next step is to create a catkin workspace to put all the simulation packages. Details are provided here: http://​wiki.ros.org/​ROS/​Tutorials/​InstallingandConfiguringROSEnvironment 
  
 ===== Initializing the Robot ===== ===== Initializing the Robot =====
Line 28: Line 40:
     # add the following line     # add the following line
     192.168.0.200 ​  rb1     192.168.0.200 ​  rb1
-    ​+
 Next, the computer'​s IP has to be added to the robot'​s own /etc/hosts. This step is necessary to control several ROS topics from a remote computer. Next, the computer'​s IP has to be added to the robot'​s own /etc/hosts. This step is necessary to control several ROS topics from a remote computer.
  
Line 34: Line 46:
  
     user@remote:​~$ ifconfig     user@remote:​~$ ifconfig
-    ​+
 Once you have obtained your IP adress (192.168.x.x),​ connect to the robot and add the name of your computer (equivalent of remote in the example above) to the /etc/hosts file. Once you have obtained your IP adress (192.168.x.x),​ connect to the robot and add the name of your computer (equivalent of remote in the example above) to the /etc/hosts file.
  
Line 41: Line 53:
     # add the following line     # add the following line
     192.168.x.x ​ name_of_computer     192.168.x.x ​ name_of_computer
-    ​+
 Note: As a security measure, super user privileges were removed from the rb1 user. To access an account with the required permissions and edit the file, contact Panagiotis. Note: As a security measure, super user privileges were removed from the rb1 user. To access an account with the required permissions and edit the file, contact Panagiotis.
  
Line 60: Line 72:
     rb1@rb1:~$ roslaunch rb1_jaco_3fg_moveit_config demo_rtc.launch     rb1@rb1:~$ roslaunch rb1_jaco_3fg_moveit_config demo_rtc.launch
  
-This will open rviz and moveit.+This will open rviz and moveit. ​In Motion Planning > Planning Request > Planning Group, select '​rb1_arm'​. By default, it is on '​gripper'​ and they cannot be controlled via the moveit interface. 
 +  
 +{{hardware:​rb1_real_moveit_indigo_arm.png?​500}}
  
-Select the rb1_arm and move the arm around, plan and execute.+The arm can now be moved as wanted.
  
 +{{hardware:​rb1_real_moveit_rviz.png?​500}}
 ==== From a remote computer ==== ==== From a remote computer ====
  
-The rb1 can also be controlled remotely from a computer. First, connect to the robot'​s Wifi, open a terminaml ​and type:+The rb1 can also be controlled remotely from a computer. First, connect to the robot'​s Wifi, open a terminal ​and type:
  
     user@remote:​~$ export ROS_MASTER_URI=http://​rb1:​11311     user@remote:​~$ export ROS_MASTER_URI=http://​rb1:​11311
Line 75: Line 90:
  
    ​user@remote:​~$ rostopic list    ​user@remote:​~$ rostopic list
-   +
 If everything is working correctly, this will display the different topics from the rb1 robot. If everything is working correctly, this will display the different topics from the rb1 robot.
  
Line 83: Line 98:
    ​user@remote:​~$ scp -r rb1@rb1:​~/​catkin_ws/​src/​* ~/​catkin_rb1_ws/​src/​    ​user@remote:​~$ scp -r rb1@rb1:​~/​catkin_ws/​src/​* ~/​catkin_rb1_ws/​src/​
    ​user@remote:​~$ cd ~/​catkin_rb1_ws    ​user@remote:​~$ cd ~/​catkin_rb1_ws
-   ​user@remote:​~catkin_rb1_ws/$ catkin_make ​   +   ​user@remote:​~/catkin_rb1_ws$ catkin_make ​   
-   ​+
 Some robot-specific packages may fail compiling (missing dynamixel.h / libpcan.h). If those are the only errors, you may continue. Some robot-specific packages may fail compiling (missing dynamixel.h / libpcan.h). If those are the only errors, you may continue.
  
 Rviz and move it can now be started to control the robot: Rviz and move it can now be started to control the robot:
-  + 
-   ​user@remote:​~catkin_rb1_ws/$ source devel/​setup.bash +   ​user@remote:​~/​catkin_rb1_ws$ source devel/​setup.bash 
-   ​user@remote:​~catkin_rb1_ws/$ roslaunch rb1_jaco_3fg_moveit_config demo_rtc.launch+   ​user@remote:​~/​catkin_rb1_ws$ roslaunch rb1_jaco_3fg_moveit_config demo_rtc.launch
  
 ===== Controlling the kinova-arm only ===== ===== Controlling the kinova-arm only =====
Line 98: Line 113:
     user@remote:​~$ mkdir -p ~/​catkin_kinova/​src     user@remote:​~$ mkdir -p ~/​catkin_kinova/​src
     user@remote:​~$ cd catkin_kinova/​src     user@remote:​~$ cd catkin_kinova/​src
-    user@remote:​~$ git clone https://​github.com/​Kinovarobotics/​kinova-ros +    user@remote:​~/​catkin_kinova/​src$ git clone https://​github.com/​Kinovarobotics/​kinova-ros 
-    user@remote:​~$ catkin_make +    user@remote:​~/​catkin_kinova/​src$ catkin_make 
-    +
 Next, it is first necessary to connect the computer to the arm via USB. This requires an USB-A to USB-B cable. Next, it is first necessary to connect the computer to the arm via USB. This requires an USB-A to USB-B cable.
  
Line 108: Line 123:
  
     user@remote:​~$ cd ~/​catkin_kinova     user@remote:​~$ cd ~/​catkin_kinova
-    user@remote:​~$ source devel/​setup.bash +    user@remote:​~/​catkin_kinova$ source devel/​setup.bash 
-    user@remote:​~$ roslaunch kinova_bringup kinova_robot.launch kinova_robotType:​=j2n6s300  +    user@remote:​~/​catkin_kinova$ roslaunch kinova_bringup kinova_robot.launch kinova_robotType:​=j2n6s300  
-    +
 This will start rviz and moveit and allow control of the arm. This will start rviz and moveit and allow control of the arm.
     ​     ​
Line 124: Line 139:
 and "​Action client not connected: rt_traj_exe/​follow_joint_trajectory"​** and "​Action client not connected: rt_traj_exe/​follow_joint_trajectory"​**
  
-First, check whether the rt_traj_exe/​follow_joiny_tractoryis ​visible on the computer.+First, check whether the rt_traj_exe/​follow_joiny_tractory is visible on the computer.
  
    ​user@remote:​~$ rostopic list    ​user@remote:​~$ rostopic list
-   +
 If they are not visible, type '​export ROS_MASTER_URI=http://​rb1:​11311'​ and retry. If they are not visible, type '​export ROS_MASTER_URI=http://​rb1:​11311'​ and retry.
  
  • hardware/rb1_quickstart.txt
  • Last modified: 2021/02/12 14:25
  • by cedric.lb