mikeferguson / ubr_reloaded

Updated packages for the UBR-1

UBR-1 Reloaded

This is a fork of the ubr1_preview repo, updated to work with an actual robot on newer versions of ROS.

ubr_reloaded's Issues

Jazzy Issues

first up: image_pipeline isn't playing nicely:

[component_container-5] [WARN] [1718640918.255160900] [head_camera.rgb_rectify]: New subscription discovered on topic '/head_camera/rgb/image_rect', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY
[component_container-5] [WARN] [1718640918.255194419] [head_camera.depth_rectify]: New subscription discovered on topic '/head_camera/depth_registered/image_rect', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY
[component_container-5] [WARN] [1718640918.255420044] [head_camera.points_xyzrgb]: New publisher discovered on topic '/head_camera/rgb/image_rect', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY
[component_container-5] [WARN] [1718640918.255436014] [head_camera.points_xyzrgb]: New publisher discovered on topic '/head_camera/depth_registered/image_rect', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY

$ ros2 topic info /head_camera/rgb/image_rect -v
Type: sensor_msgs/msg/Image

Publisher count: 1

Node name: rgb_rectify
Node namespace: /head_camera
Topic type: sensor_msgs/msg/Image
Topic type hash: RIHS01_d31d41a9a4c4bc8eae9be757b0beed306564f7526c88ea6a4588fb9582527d47
Endpoint type: PUBLISHER
GID: 01.10.42.1f.b6.22.97.a5.02.d9.93.8b.00.00.32.03
QoS profile:
  Reliability: BEST_EFFORT
  History (Depth): KEEP_LAST (5)
  Durability: VOLATILE
  Lifespan: Infinite
  Deadline: Infinite
  Liveliness: AUTOMATIC
  Liveliness lease duration: Infinite

Subscription count: 1

Node name: points_xyzrgb
Node namespace: /head_camera
Topic type: sensor_msgs/msg/Image
Topic type hash: RIHS01_d31d41a9a4c4bc8eae9be757b0beed306564f7526c88ea6a4588fb9582527d47
Endpoint type: SUBSCRIPTION
GID: 01.10.42.1f.b6.22.97.a5.02.d9.93.8b.00.00.8f.04
QoS profile:
  Reliability: RELIABLE
  History (Depth): KEEP_LAST (10)
  Durability: VOLATILE
  Lifespan: Infinite
  Deadline: Infinite
  Liveliness: AUTOMATIC
  Liveliness lease duration: Infinite

get a pick and place demo working in ROS2

Mainly collecting various issues/links here:

• simple_grasping is ported and working
• There is a moveit2 test that might have some useful stuff in it.

ROS2 Issues

Major systems:

• arm gravity comp
• base controller
• follow joint trajectory (arm, arm w/ torso, head)
• point head controller
• head camera (mostly working - could use refinement)
• teleop
• calibration
• navigation2
• moveit2

Dependencies to be ported to ROS2:

• openni2_camera (mostly working)
• robot_controllers_msgs
• robot_controllers_interface
• robot_controllers - ported, still need to test cartesian, some updates to params expected
• robot_calibration_msgs
• robot_calibration
• ubr_drivers - joint states and imu are publishing. controllers that are ported run
• ubr1_bringup - need to add calibration parameters
• ubr1_description
• ubr_msgs
• ubr_teleop

Dependencies not in debs:

• robot_calibration
• robot_calibration_msgs
• laser_proc
• urg_c
• urg_node_msgs
• urg_node

Ansible config needs to source setup.bash

Currently, the build step of the sensible config does not source /opt/ros/distro/setup.bash before trying to build - it's relying on whatever is in the current environment.

use robot_localization to merge odom/imu

Ansible config

• Setup networking
• Create workspace
• Create ROS user
• Setup /etc
• Systemd jobs
• On noetic: link python3? "sudo ln -s /usr/bin/python3 /usr/bin/python"
• Handle power down properly

Noetic Issues

Not in Debs:

• graft (migrate to robot_localization)
• joy (joystick_drivers repo)
• moveit_msgs
• grasping_msgs (depends on moveit_msgs)
• openni2_camera/launch (depends on python-catkin-pkg - needs to be updated to python3-catkin-pkg)
• rgbd_launch
• robot_calibration - release blocked on moveit_msgs.
• robot_controllers - PR opened against repo.
• urg_c
• urg_node - released, not yet synced.

Issues:

• openni2_camera cannot open device (fixed by reboot - udev rule needed to take effect)