SNP Implementation for Robotic Blending Milesone 5

This demo uses a Motoman MH180 with an Intel RealSense camera to reconstruct the surface of an arbitrary part and generate motion plans for grinding the part in a raster pattern

Build Setup

Follow the build setup instructions for the main repository

Clone the application-specific ROS2 dependencies into the same workspace

cd <snp_workspace>
vcs import src < snp_automate_2022/dependencies.repos

Build

colcon build --cmake-args -DTESSERACT_BUILD_FCL=OFF

ROS1 Hardware Interface Software Installation

Install the requisite ROS1 driver software to run the application on hardware

Note: this step is not required to run the application in simulation only

Build the ros1_bridge

Create a new workspace, clone this branch of the ros1_bridge repository

git clone -b action_bridge https://github.com/ipa-hsd/ros1_bridge.git

Source the both ROS distros

source /opt/ros/foxy/setup.bash
source /opt/ros/noetic/setup.bash

Build the bridge

colcon build --symlink-install --packages-select ros1_bridge --cmake-force-configure

Build the ROS1 workspace
- Create a new workspace, clone this commit of the motoman repository
```
git clone -b 63c94ec https://github.com/ros-industrial/motoman.git
```
- Source the ROS1 installation
```
source /opt/ros/noetic/setup.bash
```
- Build the repo
```
catkin build
```

Running the system

Simulation

ros2 launch snp_blending start.launch.xml

On Hardware

Start the ROS1 launch file in a new terminal

cd <ros1_workspace>
source devel/setup.bash
roslaunch motoman_hc10_support robot_interface_streaming_hc10.launch robot_ip:=192.168.1.31 controller:=yrc1000

Run the bridge in a second terminal

cd <bridge_workspace>
source install/setup.bash
ros2 run ros1_bridge dynamic_bridge --bridge-all-1to2-topics

Start the ROS2 launch file in a third terminal

cd <snp_workspace>
source install/setup.bash
ros2 launch snp_blending start.launch.xml sim_robot:=false sim_vision:=false