Osaka-University-Harada-Laboratory/rebel_tutorials

ROS package for igus ReBel tutorial

rebel_tutorials

• ROS package for igus ReBel tutorial.
• Docker for simulation and control environments for igus ReBel.

Dependencies

Docker build environments (tested)

• Ubuntu 20.04 PC

  • Docker 20.10.22
  • Docker Compose 2.4.1

• Ubuntu 22.04 PC

  • Docker 26.1.1
  • Docker Compose 2.27.0

ReBel

• Ubuntu 20.04 PC
  • ROS Noetic
  • igus_rebel
  • Byobu
• igus ReBel

Installation

1. Connect an Ethernet cable between the host computer and the Ethernet port of ReBel
2. Set the network configuration as below
   
   • The ros node expects to reach the robot at the IP and port192.168.3.11:3920
   • This is set in igus_rebel/igus_rebel/src/IgusRebel.cpp
3. Build the docker environment as below

sudo apt install byobu && git clone git@github.com:Osaka-University-Harada-Laboratory/rebel_tutorials.git --depth 1 && cd rebel_tutorials && COMPOSE_DOCKER_CLI_BUILD=1 DOCKER_BUILDKIT=1 docker compose build --no-cache --parallel  

Usage with docker

Using utility scripts

1. Build and run the docker environment

• Create and start docker containers in the initially opened terminal

  docker compose up

Real robot

2. Connect to the robot

xhost + && docker exec -it rebel_container bash -it -c "roslaunch rebel_tutorials rebel.launch"

3. Run a command on the host machine

• The Joint Velocity Controller commands a desired velocity to the joint.

  • 0.2 [rad/s]

    xhost + && docker exec -it rebel_container bash -it -c "rostopic pub /joint_velocity_controller/command std_msgs/Float64MultiArray '{layout: {dim: [], data_offset: 0}, data: [0.2, 0.2, 0.2, 0.2, 0.2, 0.2]}'"

  • 0.0 [rad/s]

    xhost + && docker exec -it rebel_container bash -it -c "rostopic pub /joint_velocity_controller/command std_msgs/Float64MultiArray '{layout: {dim: [], data_offset: 0}, data: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}'"

Manually execute commands

1. Build and run the docker environment

• Create and start docker containers in the initially opened terminal

  docker compose up

• Execute the container in another terminal

  xhost + && docker exec -it rebel_container bash

2. Run a demonstration in the container

   byobu

   • First command & F2 to create a new window & Second command ...
   • Ctrl + F6 to close the selected window

Author / Contributor

Takuya Kiyokawa
Kazuki Higashi

We always welcome collaborators!

License

This software is released under the BSD-3-Clause License, see LICENSE.