Skip to content

Added Gripper control node and command in uarm_core #7

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
kirumang wants to merge 6 commits into
base: master
Choose a base branch
from
Open

Added Gripper control node and command in uarm_core #7

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
6 commits
Select commit Hold shift + click to select a range
0f75c1b
Merged connect_error_fix into master
kirumang May 22, 2017
ca6211f
Merged readme_suggestion into master
kirumang May 22, 2017
2faf7c6
added gripper control to uarm_core
kirumang May 24, 2017
2233430
added gripper control node, add subscriber of gripper and fixed subsc…
kirumang May 24, 2017
3b293d2
Modified readme for the gripper node
kirumang May 24, 2017
e3954e1
fixed error in readme
kirumang May 24, 2017
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
134 changes: 85 additions & 49 deletions README.md
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -14,15 +14,42 @@ Connect uArm and get USB permission to access uArm
$ cd /etc/udev/rules.d
```
Creat a file `ttyUSB.rules` and put the following line: `KERNEL=="ttyUSB*", MODE="0666"`. Save the file and **reconnect** uArm USB to make it effective. (if you already have the permission to access USB, you can skip this step)
> If your uArm is connected to ttyACM instead of ttyUSB (you can check using dmesg -c command after connecting your uArm),
Creat a file `ttyACM.rules` and put the following line: `KERNEL=="ttyACM*", MODE="0666"`. Save the file and **reconnect** uArm USB to make it effective. (if you already have the permission to access USB, you can skip this step)


For using this package, the [pyUarm](https://github.com/uArm-Developer/pyuarm) library **SHOULD** be installed at first.

```bash
$ pip install pyuarm
```

And check your uArms's VID:PID using lsusb after connecting uArm.
```bash
$ lsusb
Bus 001 Device 020: ID 1234:1234 Arduino SA Mega 2560 R3 (CDC ACM)
```

And you need to specify your device number by editing this file
e.g. if you prefer nano as an editor)
```bash
$ sudo nano /usr/local/lib/python2.7/dist-packages/pyuarm/tools/list_uarms.py
```
In this file, you need to change this line, VID:PID with your own device.

```python
UARM_HWID_KEYWORD = "USB VID:PID=1234:1234"
```


Connect uArm to computer and upgrade your uArmProtocol Firmware
```bash
$ uarm-firmware -u
```
or
```bash
$ python -m pyuarm.tools.firmware -d
```

### 1.2 Package Download and Install
Install ros package in your src folder of your [Catkin workspace](http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment).
Expand Down Expand Up @@ -50,23 +77,23 @@ source ~/.bashrc
## 3. Package Modules
---
### 3.1 Nodes
- `uarm_core.py` is the main node. Run this node before anything else. This node has two main modes: **Control-Mode** and **Monitor-Mode**. **Control-Mode** is used to control uarm directly in this node. **Monitor-mode** is to subscrib/listen to all topics which can be used to control uarm through these nodes. This node will automatically load **Control-Mode** first.
- `uarm_core.py` is the main node. Run this node before anything else. This node has two main modes: **Control-Mode** and **Monitor-Mode**. **Control-Mode** is used to control uarm directly in this node. **Monitor-mode** is to subscrib/listen to all topics which can be used to control uarm through these nodes. This node will automatically load **Control-Mode** first.

**Step 1**: Connect uArm

Set up ROS enviroment at first
```bash
```bash
roscore
```
Open another shall to connect uArm before use.
```bash
```bash
rosrun uarm uarm_core.py connect // this will find uarm automatically
```

**Step 2**: Control-Mode

Once connect uArm, you can use commands to control. Input `h` to see all the commands
```bash
```bash
# For example: attach uarm (use at in short for attach)
Input Commands (Input h to see all commands): attach # or at
# For example: read current x,y,z (use cc in short for currentCoords)
Expand All @@ -75,19 +102,19 @@ source ~/.bashrc
Input Commands (Input h to see all commands): moveTo 12 -12 12
```
Input `l` to exit control-mode and get into Monitor mode

**Step 3**: Monitor-Mode

If you get the information as below, you can use both Topics-Pub and other ROS Nodes to control uarm through ROS.
```bash
Begin monitor mode - listening to all fucntional topics
=======================================================
Use rqt_graph to check the connection
=======================================================
```
- `uarm_status_node.py` is the node which can control the attach-status or detach-status of uArm.

- `uarm_status_node.py` is the node which can control the attach-status or detach-status of uArm.

Open another shall, and use this node in the **monitor-mode** of `uarm_core.py` node
```bash
# attach uarm
Expand All @@ -96,8 +123,8 @@ source ~/.bashrc
rosrun uarm uarm_status_node.py detach
```

- `pump_node.py` is the node which can control the pump on or off.
- `pump_node.py` is the node which can control the pump on or off.

Use this node in the **monitor-mode** of `uarm_core.py` node
```bash
# pump on
Expand All @@ -106,8 +133,18 @@ source ~/.bashrc
rosrun uarm pump_node.py off
```

- `report_angles_node.py` is the node which will report current angles.

- `gripper_node.py` is the node which can control the pump on or off.

Use this node in the **monitor-mode** of `uarm_core.py` node
```bash
# gripper on
rosrun uarm gripper_node.py on
# gripper off
rosrun uarm gripper_node.py off
```

- `report_angles_node.py` is the node which will report current angles.

Use this node in the **monitor-mode** of `uarm_core.py` node
```bash
# report once
Expand All @@ -118,8 +155,8 @@ source ~/.bashrc
rosrun uarm report_angles_node.py 10 2
```

- `report_coords_node.py` is the node which will report current coords.
- `report_coords_node.py` is the node which will report current coords.

Use this node in the **monitor-mode** of `uarm_core.py` node
```bash
# report once
Expand All @@ -129,9 +166,9 @@ source ~/.bashrc
# report 10 times per 2 time_sec
rosrun uarm report_coords_node.py 10 2
```
- `report_stopper_node.py` is the node which will report stoppper status.

- `report_stopper_node.py` is the node which will report stoppper status.

Use this node in the **monitor-mode** of `uarm_core.py` node
```bash
# report once
Expand All @@ -141,17 +178,17 @@ source ~/.bashrc
# report 10 times per 2 time_sec
rosrun uarm report_stopper_node.py 10 2
```
- `write_angles_node.py` is the node which will control 4 servo angles.

- `write_angles_node.py` is the node which will control 4 servo angles.

Use this node in the **monitor-mode** of `uarm_core.py` node
```bash
# write 4 servo angles
rosrun uarm write_angles_node.py 90 50 50 10
```
- `move_to_node.py` is the node which will move to x,y,z position.

- `move_to_node.py` is the node which will move to x,y,z position.

Use this node in the **monitor-mode** of `uarm_core.py` node
```bash
# move to x,y,z
Expand All @@ -165,23 +202,23 @@ source ~/.bashrc

- `uarm_status` - control uarm status.
```
Message_type: `std_msgs/String`.
Message_type: `std_msgs/String`.
Data: attach / detach
```
- `pump_control` - control pump on or off.
- `pump_control` - control pump on or off.
```
Message_type: `std_msgs/UInt8`.
Message_type: `std_msgs/UInt8`.
Data: 1 / 0
```
- `pump_str_control` - control pump on or off.
- `pump_str_control` - control pump on or off.
```
Message_type: `std_msgs/String`.
Message_type: `std_msgs/String`.
Data: high / low
```
- `read_coords` - report coords. Coords will also be written in parameters
```
Message_type: `std_msgs/Int32`.
Data: int (read times).
Message_type: `std_msgs/Int32`.
Data: int (read times).
Set-param: 'current_x' 'current_y' 'current_z' ('write in ros-parameter and can be invoked')
```
- `read_angles` - report angles. Angles will also be written in parameters
Expand All @@ -192,54 +229,54 @@ source ~/.bashrc
```
- `stopper_status` - report stopper status. Status will also be written in parameters
```
Message_type: `std_msgs/Int32`.
Data: int (read times).
Set-param: 'stopper_status'
Message_type: `std_msgs/Int32`.
Data: int (read times).
Set-param: 'stopper_status'
```
- `write_angles` - write 4 servo angles.
- `write_angles` - write 4 servo angles.
```
Message_type: uarm/Angles
Data: int int int int
```
- `move_to` - move to x,y,z position.
- `move_to` - move to x,y,z position.
```
Message_type: uarm/Coords
Data: float float float
```
- `move_to_time` - move to with time.
- `move_to_time` - move to with time.
```
Message_type: uarm/CoordsWithTime
Data: float float float int
```
- `move_to_time_s4` - move to with time and servo_4 angle.
- `move_to_time_s4` - move to with time and servo_4 angle.
```
Message_type: uarm/CoordsWithTS4
Data: float float float int int
```


### 3.3 Messages
- `uarm/Angles`
- `uarm/Angles`
```
uint8: servo_1
uint8: servo_2
uint8: servo_3
uint8: servo_4
```
- `uarm/Angles`
- `uarm/Angles`
```
float32: x
float32: y
float32: z
```
- `uarm/Angles`
- `uarm/Angles`
```
float32: x
float32: y
float32: z
uint8: time
```
- `uarm/Angles`
- `uarm/Angles`
```
float32: x
float32: y
Expand Down Expand Up @@ -267,7 +304,7 @@ rosrun uarm uarm_core.py connect // connect uArm
l // transfer to monitor mode
```
-**Step 2**: Launch

a) For visualization function, in the **third** shall, run

roslaunch uarm display.launch
Expand All @@ -281,7 +318,7 @@ Open rviz to view robot in the **fourth** shall
```
rosrun rviz rviz
```
For both functions, import robot model in "Displays" panel on the left:
For both functions, import robot model in "Displays" panel on the left:

```
Add -> RobotModel // click "add" and choose "RobotModel"
Expand All @@ -297,4 +334,3 @@ Add -> InteractiveMarker // click "add" and choose "Interactive
Update Topic -> /uarm_controller/update // change "Update topic" in "InteractiveMarkers"
```
Drag 3 pairs of arrows to control uArm along x, y, z axis.

59 changes: 59 additions & 0 deletions scripts/gripper_node.py
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,59 @@
#!/usr/bin/env python

'''
# File Name : gripper_node.py
# Author : Kiru Park, Mainly refered from Joey Song's pump_node.py
# Version : V1.0
# Date : 24 May, 2017
# Modified Date : 24 May, 2017
# Description : This documents is for uarm ROS Library and ROS package
'''

# All libraries needed to import
# Import system library

import rospy
import sys
from std_msgs.msg import String

# raise error
def raiseError():
print 'ERROR: Input Incorrect'
print 'ERROR: Input off / low / 0 or on / high / 1'

# main exection function
def execute():

# define publisher and its topic
pub = rospy.Publisher('gripper_str_control',String,queue_size = 10)
rospy.init_node('gripper_node',anonymous = True)
rate = rospy.Rate(10)

# process different inputs
if len(sys.argv) == 2:
data_input = sys.argv[1]

# control pump on
if data_input.lower() == 'on' or data_input == '1' or data_input.lower() == 'high':
pub.publish('on')

# control pump off
elif data_input.lower() == 'off' or data_input == '0' or data_input.lower() == 'low':
pub.publish('off')
else:
raiseError()
else:
raiseError()

rate.sleep()


# main function
if __name__ == '__main__':
try:
execute()
except:
print '=========================================='
print 'ERROR: exectuion error'
raiseError()
pass
Loading