/khi_pick_and_place_1

Primary LanguageC++

Kawaski RS007 Robot / Rockwell MagneMotion Pick-and-Place Demo

Derived from the Unity Robotics Hub Pick-and-Place tutorial This unity app simulates the Rs007 Robot and Rockwell MagneMotion table features in the Build 2022 Keynote Demo (at the end of Satya Nadella's portion)

Getting started

  • prerequisites Windows 10 or 11, Docker Desktop, Unity
  • You will want to build the ROS Docker images
    • we have scripts to build and run them for ROS1: Melodic and Noetic
    • we are looking to build them for ROS2: Foxy but they are not done yet

Docker

  • Start Docker desktop (you should see the whale in the Windows tray)
  • change to root directory

ROS1 - Melodic

  • To build docker image: makemelodic.bat
    • if successful you should be able to see a new image with docker images
  • To run image: startmelodic.bat - should see the ..../catkin_ws# prompt

ROS1 - Noetic

  • To build docker image: makenoetic.bat

    • if successful you should be able to see a new image with docker images

  • To run image: startnoetic.bat - should see the ..../catkin_ws# prompt - you can then start a launch file for eample with . devel/rs007_launch.txt

  • To open a sencond window enter: - newroswindow.bat - . devel\setup.bash - rosnode list

Usage Notes

The application has different modes:

  • Simulation mode in which it can run in
    • moving boxes from rail to rail
    • moving boxes from tray to rail
    • moving boxes from rail to tray
  • Echo mode
    • echos the box and robot motions that are occuring somewhere else, either on a physical robot or on a virtual one (for example another instance of this appoication)

Compiling the Unity Project

  • The Unity Project root is in KhiPickAndPlaceProject Subdirectory in this repo, that is where you have to point Unity Hub
  • The scene you should use for building is Assets/Scenes/build1.unity
  • The packages needed should install themselves, I beleive - not sure about this
  • One small change needs to be made after the UnityRoboticsHub package is installed to make this compile:
    • the KhiPickAndPlaceProject\Library\PackageCache\com.unity.robotics.ros-tcp-connector@c27f00c6cf\Runtime\TcpConnector\ROSConnection.cs file has a method (InitializeHUD) that needs to be made public like this on line 1016:
    • public void InitializeHUD()
    • I will see if I can find another workaround for it later

Building an exe

  • We want this app to run in its own window, the setting for this is kind of buried deep in Unity
  • Go the the dialog box opened with the menu command Edit/Build Settings
    • Press the Player Settings button in the lower left of that window
    • Select the Player settings from the list of about 20 settings on the left
    • Expand the Resolution and Presentation tab that you can find on the right of the same window then
    • Select "Windowed" from the Fullscreen Mode setting
  • We build in the "Build" subdirectory (which is standard in Unity and excluded in their usual .gitignore).
  • We build to the name KhiDemoSim.exe

Keyboard Commands:

  • Ctrl-E Echo Mode

  • Ctrl-P RailToRail Mode

  • Ctrl-L RailToRail Mode

  • Ctrl-T TrayToRail Mode

  • Ctrl-R Reverse TrayRail

  • Ctrl-F Speed up

  • Ctrl-S Slow down

  • Ctrl-N Toggle Enclosure

  • Ctrl-D Toggle Stop Simulation

  • Ctrl-G Toggle Log Screen

  • Ctrl-V Ctrl-F View from Front

  • Ctrl-V Ctrl-B View from Back

  • Ctrl-V Ctrl-T View from Top

  • Ctrl-V Ctrl-S View from Top (rotated)

  • Ctrl-V Ctrl-R View from Right

  • Ctrl-V Ctrl-L View from Left

  • Ctrl-H Toggle Help Screen

  • Ctrl-Q Ctrl-Q Quit Application

Parameters:

--roshost localhost --zmqhost localhost --rosport 10004 --zmqport 10006 --mode echo --mode rail2rail --mode rail2rail --mode tray2rail --mode rail2tray

Addresses as of 15 July 2022:

Western Europe - 20.234.234.190 USA - 20.225.161.122

Start two instances with one echoing the other

  • Make sure you have a ROS container running and know what port it is using for the ROS-Unity communication (below example localhost:10005)

  • Open a cmd window

  • Enter: khidemosim --mode tray2rail --zmqhost localhost --zmqport 10006

  • (note: If you are using a local host you should see output echoing the statusrunning in the container window)

  • Open a second cmd window

  • Enter: khidemosim --mode echo --roshost localhost --rosport 10005

  • The upper left communication HUD IP window should be showing green communication arrows