sra-vjti / mario Goto Github PK

The install_codes.sh has a version specific (kinetic) command without proper check ros-kinetic-rosserial
It would be better if you can simply display the install command and quit.
sudo apt install ros-<version>-rosserial
This will avoid breaking of script in the future, and allow melodic+ users to setup the environment without hassle

As MARIO v2.3 is ported to ROS2, the component 2_simulation_dh needs to be changed.

Hi!
I am trying to reproduce the project from the Workshop, but I'm facing some difficulties when flashing. It shows that the device is connected to the WiFi but I can't stablish any tcp connection.
If someone happens to know, have had the same issue before or have any thoughts on it, it would be very kind and I would be very thankful for it.
The errors from the ESP_LOGS, when monitor using (idf.py monitor) after flashing:

I (1586) esp-ros-wifi: Connected to AP
I (1596) esp-ros-wifi: Successfully connected
E (20596) esp-ros-wifi: Error receiving data: errno 113
E (21596) esp-ros-wifi: Error receiving data: errno 113
E (22596) esp-ros-wifi: Error receiving data: errno 128
E (23596) esp-ros-wifi: Error receiving data: errno 128
E (24596) esp-ros-wifi: Error receiving data: errno 128

The errors seem to be with the socket connection, but I am not any sure of it.
I am flasing the ESP32 using the ESP-IDF on a Windows 10 and ROS Melodic, instead of Linux and ROS Kinetic.
Thanks a lot in Advance to anyone who could have a look on it

Since we plan to add gripper in MARIO, we should modify urdf file to make it look similar to real life MARIO.

Currently the 5_servo_test_webserver uses rosserial, which has been discontinued (as per this closed issue).

The official replacement is microROS.

I would like to take this issue and port the current implementation to microROD and ROS2.

With the provision of 4th servo in sra-board-hardware-design, we can add support for a gripper. Hence we need to design a gripper.

The current installer script needs to be updated to install ROS2 "Humble Hawksbill" and esp-idf v5.1, taking into account all the dependencies.

• As ROS1 has ended its support for the latest ubuntu versions and as industry is progressing we need to adapt to the changes and port as soon as possible to the ROS2 latest distribution i.e. HUMBLE.
• Same goes for the esp-idf v5.1
• As ROSSERIAL is not supported for ROS1, one must look into the MICRO-ROS tutorials for writing nodes for esp32 and porting the firmware to microros

Tasks Need to be done

• Porting to ROS2 Humble
• Designing a new end effector (maybe not gripper this time)
• Porting to esp-idf v5.1
• OPTIONAL- Making a teleop controller to control the bot with webservice

The aim of this issue is to design a new gripper for MARIO.
Older version of MARIO manipulator had an issue with its gripping mechanism. This time, we are thinking of designing new gripper for this purpose.
Currently, There are two designs that we have thought of :

1. Gripper using rack and pinion mechanism :
   In this mechanism, gripping is done using rack and pinion structure which is supported/actuated by gear linked with motor.
   

2. Gripper using more support
   This design is similar to the previous one except it has more support which allows it to rotate in a proper manner.

Hello,

Good code is only understandable to others when it is maintained in a proper file structure. As we are shifting to ROS2 and MICROROS this year for the MARIO workshop, the old file structure should be updated with the code as well.

Thank You

In the release tab at the side of the repo, the install script is from 2020. It needs to be updated to the 2021 version of install_codes.sh which is present in the root of the repo

[NECESSARY CHANGES]:

• Change URDF to SDF
  • Reference
  • Things to be considered in this migration
    - While converting directly to .sdf make sure of the controllers from ros2_control
    - First try to understand how the controllers are used in this example
    - Clone the above example and try launching rrrobot example and observe the code as it will be helpful for this migration
    - Try using position controllers for the rotational joints
• Rewrite the .launch scripts to .launch.py
  • For this one can refer this repo here
  • NOTE: This repo works for the gazebo classic with position controllers
• Rewrite the inverse kinematics script for rclpy and utilize position controller to control the joints

[OPTIONAL CHANGES]:

• Writing a smoother angle change for inverse kinematics

[FUTURE PROSPECTS]:

• Writing script for inverse velocity kinematics

ROS1 noetic has an edge-compatible platform rosserial which utilizes its xml-rpc protocol for esp32 and wifi for communication with the roscore. ROS2 on the other hand utilizes DDS as its base protocol, so for this mircoros is a replacement for rosserial.

To be able to successfully migrate firmware of rosserial_rviz and rosserial_gazebo one needs to go through the following:

1. https://micro.ros.org/docs/tutorials/core/first_application_rtos/freertos/
2. Tutorial on how to write nodes and subscribers for esp32 microros
3. Learn commands for flashing the firmware

Re-write details:

1. Subscribe to the common topic of joint angles from the inverse kinematics script
2. Utilize these values and just call servo functions from sra board components

Currently the latest ESP-IDF release version is 4.4.1. All the firmware of MARIO should be updated to be able to compile with that IDF.