RoboMedicinae1 - ROS

Main - Branch

Open-source, copy and modify what you need!

Open-source, kopírujte a upravujte co potřebujete!

Note: Original branch of master's thesis -> switch to Master's Thesis

About

RM1 is an experimental robotic platform created to automate antigen testing. This project was developed as part of a master's thesis. The aim was to create a functional and modular prototype that is easily modifiable and deployable after debugging. The basic idea is to create a web-based server that communicates with ROS. ROS was used in the work as a simulation and debugging environment, mainly for robot control. The thesis is divided into four main parts:

<= Robo Medicinae I
<= RM1 - Server
<= RM1 - ROS
<= RM1 - Gripper
<= RM1 - SegCNN

I decided to go with a solution where ROS will not be included in Docker for development and simulation. ROS was used as an enabler for simulation and subsequent real world testing. It also made access and updates within development easier. But the resulting real world deploy includes the ability to whitelist ROS Docker into the App, or possibly extracting the simulated robot paths into e.g. the python-urx library and with added facilities.

Robot, gripper and sensors

Part	Type
Robot	Universal Robots UR3
3D Camera	Intel Realsense D435i
2-finger Gripper	Onrobot RG2
Force-Torque Sensor	Onrobot Hex-e

Robot control

Part	Type
Control framework	ROS Melodic
Prog. lang.	Python 2

Note

! Attention ! the problem occurred in rosbridge, which showed an error, for full functionality and unslowed communication it is necessary to make a modification in the file:

/opt/ros/<rosdistro>/share/rosbridge_server/launch/rosbridge_websocket.launch

Change "unregister_timeout" [#138]. Example is in file rosbridge_websocket.launch.

usefull to run Nautilus file manager with sudo:

user@user-pc:~$ sudo nautilus

Hand-Eye-Calibration

Hand eye calibration was performed according to the repository procedure: https://github.com/lixiny/Handeye-Calibration-ROS. The ArUco board was used as a marker.

ROS

This application was tested mainly on ROS Melodic Morenia, but there is option to use in another distors, but samoe scripts must be changed. For run there need to be involved some dependencies to catkin workspace, but first install ROS.

<rosdistro> = kinetic, melodic, noetic ...

ROS Melodic Morenia =>

user@user-pc:~$ sudo apt-get install ros-<rosdistro>-desktop-full

Moveit =>

user@user-pc:~$ sudo apt-get install ros-<rosdistro>-moveit

Rosbridge =>

user@user-pc:~$ sudo apt-get install ros-<rosdistro>-rosbridge-server

TF2-Web-Republisher =>

user@user-pc:~$ sudo apt-get install ros-<rosdistro>-tf2-web-republisher

After you create a catkin workspace, you must imply the following packages:

Universal Robots ROS Driver =>

# source global ros
$ source /opt/ros/<your_ros_version>/setup.bash

# create a catkin workspace
$ mkdir -p catkin_ws/src && cd catkin_ws

# clone the driver
$ git clone https://github.com/UniversalRobots/Universal_Robots_ROS_Driver.git src/Universal_Robots_ROS_Driver

# clone fork of the description. This is currently necessary, until the changes are merged upstream.
$ git clone -b calibration_devel https://github.com/fmauch/universal_robot.git src/fmauch_universal_robot

# install dependencies
$ sudo apt update -qq
$ rosdep update
$ rosdep install --from-paths src --ignore-src -y

# build the workspace
$ catkin_make

# activate the workspace (ie: source it)
$ source devel/setup.bash

https://github.com/UniversalRobots/Universal_Robots_ROS_Driver#building

RM1_ROS =>

user@user-pc:~$ git clone https://github.com/Steigner/RM1_ROS.git

Note: This package robo_medicinae should be on the same file system level as Universal_Robots_ROS_Driver and universal_robot from fmauch.

Optoforce =>

user@user-pc:~$ git clone https://github.com/shadow-robot/optoforce.git

Note: This package optoforce should be on the same file system level as Universal_Robots_ROS_Driver and universal_robot from fmauch. USB communication was used for data acquisition. This is for real world testing.

Hierarchy in catkin workaspace

Simulation

src
│   CMakeLists.txt  
└───robo_medicinae
└───universal_robot
└───Universal_Robots_ROS_Driver

Real world optionaly with Hex-e sensor

src
│   CMakeLists.txt 
└───optoforce
└───robo_medicinae
└───universal_robot
└───Universal_Robots_ROS_Driver

Run

One bash script from the RM1_Server repository is implemented within the whole application. However, everything can be run in individual terminals: But don't forget that you must also have the RM1_Server repository for proper functionality!!! This is just a guide on how to run each part.

Gazebo sim

user@user-pc:~$ roslaunch robo_platform ur3_bringup.launch

ROS real-world / ursim controller

user@user-pc:~$ roslaunch robo_platform ur3_driver_bringup.launch robot_ip:=127.0.0.1
user@user-pc:~$ roslaunch robo_platform ur3_driver_bringup.launch robot_ip:=xxx.xxx.xxx.xxx

Moveit sim

user@user-pc:~$ roslaunch robo_moveit ur3_moveit_planning_execution.launch sim:=true

Moveit real-world / ursim

user@user-pc:~$ roslaunch robo_moveit ur3_moveit_planning_execution.launch

ROS Rviz

user@user-pc:~$ roslaunch robo_moveit moveit_rviz_new.launch config:=true

ROS Bridge

user@user-pc:~$ roslaunch rosbridge_server rosbridge_websocket.launch

Tf2 Web republisher

user@user-pc:~$ rosrun tf2_web_republisher tf2_web_republisher

HEX-e sensor publisher

user@user-pc:~$ roslaunch optoforce optoforce.launch

Note: before run ensure that:

user@user-pc:~$ sudo chmod a+rw /dev/ttyACM0

Python switch

user@user-pc:~$ rosrun robo_control switch.py

Python init motion

user@user-pc:~$ rosrun robo_control motion_robot.py 1

Note: Script switch.py was programmed as main script for control other function and communicate with client. To run the simulation follow:

Gazebo
Moveit
Additionaly Rviz
Rosbridge
Additionaly TF2 for control_robot page
Python switch

Another simulation option is to use ursim =>

Images

Authors

Author: Martin Juricek
Supervisor: Roman Parak

Citation

If you want to cite please check the header repository.

github.com/Steigner/Robo_Medicinae_I =>

References

Faculty of Mechanical Engineering BUT