jhaardt / wrs

Force controlled assembly process. In real and simulated environment. Using Universal Robots UR5, ROS, Gazebo.

wrs

Introduction

This Workspace is the result of my master thesis. The goal of the project was to create a force controlled assembly process, that works in a simulated and a real environment. I used the following robot setup: Universal Robots UR5 with an attached Robotiq 2F-140 gripper and ROS Kinetic Kame. The task was to fit a pin and a bearing housing into a mounting plate and originated from the assembly task of the 2018 World Robot Challenge.

This video shows the gazebo simulated UR5-Robot, searching the mounting hole and fitting the Pin into the mounting plate by only using the integrated force sensor in the TCP.

(Unfortunately, due to COVID-19, it was not possible for me to get into the Lab again and take a Video of the real Robot).

To make it work, some ROS-Packages, other than my own, needed some changes. For that reason, I decided to upload the whole workspace to GitHub.

Getting set up

This workspace was developed with ROS Kinetic Kame. Other versions of ROS aren't tested, but might work.

To clone the git repository, navigate to your new ROS Catkin_Workspace and run the following command:

$ git clone https://github.com/jhaardt/wrs.git src

Running the code

To run the different programms, run the following commands in different terminal windows:

Simulation

$ roslaunch wrs_gazebo wrs_simu.launch

$ roslaunch wrs_moveit_config wrs_moveit_planning_execution.launch sim:=true

$ rosrun wrs_run pick_place_simu

For further information about the assembly process, you can run these two analysis tools:

$ roslaunch wrs_moveit_config moveit_rviz.launch config:=true

$ rqt

Real

If the real robot is not connected, start Universal Robot UR5-Sim first:

$ ursim-3.5.4.10845/start-ursim.sh

If the real robot is connected:

$ roslaunch wrs_real_setup ur5_gripper.launch

$ roslaunch wrs_real_setup activate_gripper.launch

$ roslaunch wrs_moveit_config wrs_moveit_planning_execution.launch

$ roslaunch wrs_moveit_config moveit_rviz.launch config:=true

$ rosrun wrs_run pick_place_real

Known Issues

• Simulation: While trying to assemble the bearing housing, the robot model breakes, when the housing touches the mounting plate a second time, due to simulation problems with Gazebo.
• Real: While assembling the pin, the forces are getting to big and the pin winds out of the gripper.

References

The links to the used packages are:

gazebo_ros_link_attacher [GitHub]

moveit_jog_arm [GitHub] (clone) The orignal git dosen't exist anymore since it got changed, while creating this project. It has been moved to MoveIt Experimental and is now known as MoveIt Servo.

roboticsgroup_gazebo_plugins [GitHub]

robotiq [GitHub]

kinetic-devel [GitHub] (necessary for Jog Arm)

universal_robot [GitHub]

ur_modern_driver [GitHub]

A big help and guideline was:

intuitivecomputing/icl_phri_ur5 [GitHub]

philwall3/UR5-with-Robotiq-Gripper-and-Kinect [GitHub]

intuitivecomputing/ur5_with_robotiq_gripper [GitHub]

wrs's Issues

Related theoretical articles

Thank you for sharing this interesting work.

But in the process of studying, I encountered the problem of incomplete theoretical foundation.

Do you have any articles or blogs about this work that you can recommend to me to learn？

Create docker to repeat this work

Hi, @jhaardt

Thank you for sharing this interesting project.

I tried to reproduce the work, but I encountered a bug that I couldn't solve.

So I built the docker images(clarenceluo/wrs) on the basis of ct2034/vnc-ros-kinetic-full.

Please help us solve the problem of reproduction.

Thank you very much indeed!

catkin_make时报错

[ 15%] Building CXX object wrs-master/wrs/wrs_simu/wrs_run/CMakeFiles/wrs_run.dir/src/functions.cpp.o
/home/dayna/catkin_wrs/src/wrs-master/wrs/wrs_simu/wrs_run/src/functions.cpp: In function ‘void upright(moveit::planning_interface::MoveGroupInterface&, float, float, float)’:
/home/dayna/catkin_wrs/src/wrs-master/wrs/wrs_simu/wrs_run/src/functions.cpp:250:32: error: no matching function for call to ‘tf2::Matrix3x3::getRPY(tf2Scalar&, int (&)(int, FILE*), long long int (&)(const char*) throw ())’
mat.getRPY(yaw, putc, atoll);
^
In file included from /opt/ros/melodic/include/tf2/LinearMath/Transform.h:21:0,
from /opt/ros/melodic/include/tf2_geometry_msgs/tf2_geometry_msgs.h:37,
from /home/dayna/catkin_wrs/src/wrs-master/wrs/wrs_simu/wrs_run/include/functions.h:7,
from /home/dayna/catkin_wrs/src/wrs-master/wrs/wrs_simu/wrs_run/src/functions.cpp:1:
/opt/ros/melodic/include/tf2/LinearMath/Matrix3x3.h:364:7: note: candidate: void tf2::Matrix3x3::getRPY(tf2Scalar&, tf2Scalar&, tf2Scalar&, unsigned int) const
void getRPY(tf2Scalar& roll, tf2Scalar& pitch, tf2Scalar& yaw, unsigned int solution_number = 1) const
^~~~~~
/opt/ros/melodic/include/tf2/LinearMath/Matrix3x3.h:364:7: note: no known conversion for argument 2 from ‘int(int, FILE*) {aka int(int, _IO_FILE*)}’ to ‘tf2Scalar& {aka double&}’
wrs-master/wrs/wrs_simu/wrs_run/CMakeFiles/wrs_run.dir/build.make:62: recipe for target 'wrs-master/wrs/wrs_simu/wrs_run/CMakeFiles/wrs_run.dir/src/functions.cpp.o' failed
make[2]: *** [wrs-master/wrs/wrs_simu/wrs_run/CMakeFiles/wrs_run.dir/src/functions.cpp.o] Error 1
CMakeFiles/Makefile2:11853: recipe for target 'wrs-master/wrs/wrs_simu/wrs_run/CMakeFiles/wrs_run.dir/all' failed
make[1]: *** [wrs-master/wrs/wrs_simu/wrs_run/CMakeFiles/wrs_run.dir/all] Error 2
Makefile:140: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j2 -l2" failed

tf2_geometry_msgs

‘TwistStamped’ is not a member of ‘tf2_geometry_msgs, but in std_msgs/ geometry_msgs

rqt_plot

hello

i'm interested in the force processing of your code

but when i use the rqt_plot to output the /wrench_world/force,the rqt_plot just display three lines on the screen

i cannnot understant it

just like it

the master's thesis

Hello, thank you very much for your open source.
can I see your master's thesis? I want to learn related knowledge...