ysl208 / iropro Goto Github PK

Need to set up URcap on UR5 to allow external control. Might be related to using ur_modern_driver : ros-industrial/universal_robot#297

GLib-GIO-CRITICAL **: g_dbus_connection_register_object: assertion 'G_IS_DBUS_CONNECTION (connection)' failed

web_prereqs.launch

using real baxter robot

doesn't work for baxter with vacuum gripper on right side

follow instructions by Ajith R Nair
https://askubuntu.com/questions/51445/how-do-i-calibrate-a-touchscreen-on-a-dual-monitor-system

run commands
for finger
xinput map-to-output 9 DVI-1-0
for pen:
xinput map-to-output 10 DVI-1-0
for pen eraser:
xinput map-to-output 12 DVI-1-0

I tried to add the robot model on the editor

On editor: Open displays > + Robot Model

I get the following error in Chrome:

Access to XMLHttpRequest at 'http://localhost:8001/ur_description/meshes/ur5/visual/base.dae' from origin 'http://localhost:8081' has been blocked by CORS policy: No 'Access-Control-Allow-Origin' header is present on the requested resource. ColladaLoader2.js:5237 GET http://localhost:8001/ur_description/meshes/ur5/visual/base.dae net::ERR_FAILED

in firefox:
XHRGEThttp://localhost:8001/ur_description/meshes/ur5/visual/base.dae [HTTP/1.0 400 Bad Request 0ms]

for rviz / gazebo

and Robot does not have joint "torso_t0"
appears when launching editor.launch using real Baxter robot

When clicking on 'close gripper' it just sends another open command, and leaves it until 5sec of timeout

[pcl::SampleConsensusModelPlane::optimizeModelCoefficients] Not enough inliers found to support a model (0)! Returning the same coefficients.
[ERROR] [1525282399.032126039]: Failed to cluster objects.
[ERROR] [1525282399.033035914]: Failed to perceive surface objects.

apparently running auto suspend fixes it:

sudo sh -c "echo -1 > /sys/module/usbcore/parameters/autosuspend"

didnt work

use rqt_plot rostopic

e.g. pose three values:
rqt_plot /robot/limb/right/endpoint_state/pose/position/x:y:z

http://wiki.ros.org/rqt_plot

Reference: http://wiki.ros.org/ur_gazebo

For melodic:
sudo apt-get install ros-melodic-gazebo-ros-pkgs ros-melodic-gazebo-ros-control

To launch the simulated arm and a controller for it, run:
roslaunch ur_gazebo ur5.launch
and in another terminal:
roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true
To control the simulated arm from RViz, also run:
roslaunch ur5_moveit_config moveit_rviz.launch config:=true

For testing, try to move the robot in rviz and have it Plan & Execute the movement

• display action description on save

need to recreate action for it to use the latest landmark, but like this it loses the pose relative to landmark

Gripper controller seems to be similar to Baxter's, but it is still 'Waiting for gripper server'.

Reference an existing controller package: https://github.com/utecrobotics/ur5/tree/master/ur5_gazebo

sudo apt-get install ros-indigo-freenect-stack
roslaunch freenect_launch freenect.launch
rosrun image_view image_view image:=/camera/rgb/image_color

PCL2 is published on /camera/depth_registered/points
In rviz: change color transformer to RGB8 when displaying PointCloud2

changes to be made:

• baxter.launch
• frontend: search for "rgb_optical_frame" and replace "kinect2" with "camera"
• publish tf for camera_link:
  rosrun tf static_transform_publisher 0.00 0.04 0.03 -1.50 -0.775 0.00 head_camera camera_link 100

Log activities either:

• Use console.log as activity log
• save local variable in JS, send to db
• send constantly to DB
• access .log file from JS

where menu can be an action/problem name or overview

Date,Time,menu,description

Changed surface_segmentation.yaml to set max_x (which is the axis pointing from the robot forward)
but doesn’t work, so CropBox::filter does not work (check size of point_indices->indices.size())

http://www.ugr.es/~cvrlab/projects/baxter_objmanipulation/baxter.html

Measure MoveIt zero point
This package is used to get the distance from the ground to the zero point from the reference frame "base" from MoveIt. This value is needed for the collision checking and is allways the same if the robot position doesn't change. The table height must be smaller then 0.9 m and added to the variable table_size_z. The right arm move from the start position down and measure with the infrared sensor the distance to the table and calculate the zero point with the current position, the distance to the table and the table height. The result will be printed on the screen and is required for all tasks.

Download this project

The project must be added in the src folder from the workspace and can be launched after it is build from a sourced terminal.
Open a new terminal:
$ source /opt/ros/indigo/setup.bash
$ source ros_ws/devel/setup.bash
$ cd ros_ws/
$ ./baxter.sh
$ catkin_make
$ roslaunch baxter_measure_zero_point baxter_pick_and_place.launch

list of many are here http://www.twelvetone.tv/iron-icons-search/index.html

made change in 30fdc34

made change in to 450px
.stepDiv {width: 350px;

or in

#rviz {
height: 350px;
width: 350px;

You probably can change the default camera angle. You have to peel through the layers and reach into the three.js API. ros-rviz uses ros3djs, which in turn uses three.js. If you read the code for ros3djs, you can see how it interacts with three.js. And you can read the three.js code here: https://threejs.org/docs/index.html#manual/en/introduction/Creating-a-scene

when running baxter.launch

this happens because it is trying to complete the close grip action but it fails because the cube is too wide

change robot_config.cpp for pneumatic gripper

http://sdk.rethinkrobotics.com/wiki/API_Reference#Cuff_Buttons
listen to the rostopic and send gripper action event when pressed

run rosbag record command on start demo, creates a .bag.active file

need to run rosbag reidex and rosbag fix commands

https://answers.ros.org/question/302248/bag-file-is-empty-after-rosbag-reindexing-and-fixing-bagactive-file/

This might be a reason which leads to collisions and failed IK

When running editor.launch I got the following error:

[ INFO] [1606131900.664385299]: Waiting For connections on 0.0.0.0:9998
[ERROR] [1606131930.927740, 2812.475000]: Could not connect to mongo server localhost:27017
[ERROR] [1606131930.930572, 2812.478000]: Make sure mongod is launched on your specified host/port                                                                                      
Traceback (most recent call last):                                                          
  File "/opt/ros/melodic/lib/mongodb_store/message_store_node.py", line 316, in <module>
    store = MessageStore()
  File "/opt/ros/melodic/lib/mongodb_store/message_store_node.py", line 48, in __init__
    raise Exception("No Daemon?")
Exception: No Daemon?
================================================================================REQUIRED process [message_store-1] has died!                                                            
process has died [pid 10478, exit code 1, cmd /opt/ros/melodic/lib/mongodb_store/message_store_node.py __name:=message_store __log:=/home/lab_cheem/.ros/log/cdf98b54-2d7a-11eb-bc53-7085c2f2f536/message_store-1.log].                                                             
log file: /home/lab_cheem/.ros/log/cdf98b54-2d7a-11eb-bc53-7085c2f2f536/message_store-1*.log
Initiating shutdown!                                                                        
================================================================================            
[rapid_pbd_video_server-3] killing on exit
[rapid_pbd/editor_node-2] killing on exit
[message_store-1] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

For start/stop demo bag file, need to add counter so that it doesnt add again?

• force/speed/acceleration?
• save object pose & dimensions
• record camera (head or Kinect?)
• save time start
• get user pose
  Recorded demos: 15x
  Move BASE obj
  Move CUBE (maybe)
  Move ROOF

set joint speed of limbs

$ npm install -g bower polymer-cli
npm WARN deprecated [email protected]: We don't recommend using Bower for new projects. Please consider Yarn and Webpack or Parcel. You can read how to migrate legacy project here: https://bower.io/blog/2017/how-to-migrate-away-from-bower/

added 1568 packages, and audited 1634 packages in 22s

42 vulnerabilities (29 low, 1 moderate, 12 high)

To address issues that do not require attention, run:
npm audit fix

Some issues need review, and may require choosing
a different dependency.

Run npm audit for details.

ROS indigo was supported
https://index.ros.org/p/pddl_planner/#indigo

This was caused when it tried to look up an empty program (db_id = "") or domain

updated with new ones and works without problems

also changed these values in baxter_interface tuck_arms to the same positions, but needed to check these using a python script :

baxter_interface.Limb('right').joint_angles()

                       'left':  [0.41, -0.63, -0.86, 1.10, 0.66, 1.32, -0.08],
                       'right':  [-0.23, -0.54, 0.83, 0.78, -0.68, 1.50, 0.15]

• check baxter_interface gripper_action_server.py
• in gripper_action.py the timeout is set to 5.0, so need to see how we can change that, set it to 100 instead

In Condition Checker action when Selecting a landmark

iRoPro was implemented on the Baxter research robot.
It is based on Rapid PbD, which worked on PR2, Fetch and Baxter robot.

The following needs to be changed to set it up on UR (most similar to the fetch robot):

Create new equivalent files for UR:

launch/fetch_app.launch
launch/fetch.launch
launch/fetch_moveit.launch
src/fetch_action_node.cpp
include/rapid_pbd/fetch_actions.h
src/fetch_actions.cpp

Modifications to consider UR as an option:

Change FetchRobot or BaxterRobot instances to UniversalRobot
The short versions fetch, baxter are changed to ur
src/program_execution_node.cpp
src/editor.cpp
src/editor_node.cpp
src/surface_segmentation_node.cpp

include/rapid_pbd/action_names.h
src/robot_config.cpp
include/rapid_pbd/robot_config.h

CMakeLists.txt

Front end:
frontend/src/pbd-*.html

compare with Action Refresh