match Precision Assembly Robot

ROS Framework for the Precision Assembly Robot

1. Repository overview

• pm_hardware_interface: Contains the hardware interface for the precision assembly robot
• pm_robot_control: Contains the control of the robot via OPC UA
• pm_robot_bringup: Contains the launch files to bringup the robot in real or simulation
• pm_robot_control_test: Contains a nodes to sample nodes to control the robot
• pm_robot_description: Contains the description of the robot
• pm_robot_moveit_config: Contains the moveit config
• pm_robot_submodules: Contains submodules for e.g. Basler cameras

2. Installation

Start by changing directory to your workspace!

Clone package

git clone https://github.com/match-PM/match_pm_robot.git

3. Install packages

Make sure that you have installed the following packages:

sudo apt install ros-humble-desktop-full

sudo apt install ros-humble-xacro

sudo apt install ros-humble-moveit

sudo apt install ros-humble-moveit

sudo apt install ros-humble-moveit-visual-tools

sudo apt install ros-humble-graph-msgs

sudo apt install ros-humble-ros2-control ros-humble-ros2-controllers

sudo apt install ros-humble-gazebo-ros2-control

sudo apt install ros-humble-gazebo-ros-pkgs

sudo apt install ros-humble-rqt*

ros2 run rqt_joint_trajectory_controller rqt_joint_trajectory_controller --force-discover

Add these commands to the .bashrc file:

source /opt/ros/humble/setup.bash

source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash

source ~/ros2_ws/install/setup.bash

4. Build packages

Use your standard build tools to build the downloaded packages e.g. :

colcon build  --symlink-install

4. Usage

In the package pm_robot_bringup, you can find two launch files. You can launch the robot in a simulation environment or use the real robot. You can define the robot configuration (Gonimeter, Gripper, etc.) into the launch files.

Real Hardware:

To use the real hardware (robot), the robot has to be switched on.

ros2 launch pm_robot_bringup pm_robot_real_HW.launch.py 

Simulation:

There are two simulations. One in Unity and one in Gazebo. The Unity Simulation encompasses all functions of the real robot, including sensors (camera, laser, force sensor). It requires you to install unity.

The Gazebo simulation is easier to use, but does not have every functionality.

Gazebo

Using the gazebo simualtion, the robot is spawned in gazebo. You can control the robot axis via joint_trajectory_controller. To plan trajectories, you can use Moveit.

ros2 launch pm_robot_bringup pm_robot_sim_HW.launch.py 

Unity

For the unity simulation you need the install the repro https://github.com/match-PM/match_pm_robot_unity.git

To start the simulation, do the following:

1. Start the opcua-server

ros2 run opcua_server opcua_server

2. Start the unity simulation by enter the play mode

3. Start ros2

ros2 launch pm_robot_bringup pm_robot_unity_HW.launch.py 

5. External documentation

ROS 2 - Humble - Documentation and Tutorial Building a robot with ROS2