RRRobot/docs/gear.md

GEAR Simulation

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Table of Contents

• Running GEAR Container
• Building & Running Simulation
• Controlling Sample Environment
  • Start Competition
  • Controlling Arms
• Running Full Simulation
  • Manual Process for Testing
  • Semi-Automated Process

Running GEAR Container

1. On your local system, go to docker_env folder
   • cd /PATH/TO/RRRobot/docker_env
2. Start GEAR docker container
   • docker-compose run --rm gear

Building & Running Simulation

1. Source ROS Setup
   • source /opt/ros/melodic/setup.bash
2. Run Simulation
   • Sample Environment
     • roslaunch osrf_gear sample_environment.launch
     • See controlling sample environment for more information.
   • Final Simulation
     • See running full simulation for more information.

Controlling Sample Environment

While sample environment is running, open a new terminal (see tips & tricks section of home) on the running docker container. The following sections provide a brief overview of the commands that can be used to control various aspects of the simulation. For a full list, check out the ARIAC 2019 Wiki.

sample_run.sh moves arm 1 over the gasket part, picks it up, moves it to AGV1's tray, drops it, and moves back to the starting position.

Start Competition

rosservice call /ariac/start_competition

Controlling Arms

Gripper

• Turn gripper suction on
  • rosservice call /ariac/arm1/gripper/control "enable: true"
• Turn gripper suction off
  • rosservice call /ariac/arm1/gripper/control "enable: false"

Joints

Move arm1 over a gasket part

rostopic pub /ariac/arm1/arm/command trajectory_msgs/JointTrajectory    "{joint_names: \
        ['linear_arm_actuator_joint',  'shoulder_pan_joint', 'shoulder_lift_joint', 'elbow_joint', 'wrist_1_joint', 'wrist_2_joint', 'wrist_3_joint'], \
     points: [ \
{time_from_start: {secs: 2}, \
        positions: [0.15, 3.14,  -1.570,  2.14, 3.1, -1.59, 0.126]}, \
{time_from_start: {secs: 4}, \
        positions: [-0.35, 3.14,  -0.6,  2.3, 3.0, -1.59, 0.126]}, \
{time_from_start: {secs: 6}, \
        positions: [-0.35, 3.14,  -0.5,  2.3, 3.05, -1.59, 0.126]}, \
]}" -1

Move part to AGV1's tray

rostopic pub /ariac/arm1/arm/command trajectory_msgs/JointTrajectory    "{joint_names: \
        ['linear_arm_actuator_joint',  'shoulder_pan_joint', 'shoulder_lift_joint', 'elbow_joint', 'wrist_1_joint', 'wrist_2_joint', 'wrist_3_joint'], \
     points: [ \
{time_from_start: {secs: 2}, \
        positions: [0.0, 3.14,  -1.570,  2.14, 3.27, -1.51, 0.0]}, \
{time_from_start: {secs: 5}, \
        positions: [1.0, 1.85,  0,  -0.38, 1.57, -1.51, 0.00]}, \
{time_from_start: {secs: 7}, \
        positions: [1.0, 1.507,  0,  -0.38, 0.38, -1.51, 0.00]}, \
{time_from_start: {secs: 10}, \
        positions: [1.18, 1.507,  0.38,  -0.38, 1.55, 1.75, 0.127]}, \
]}" -1

Return to starting position

rostopic pub /ariac/arm1/arm/command trajectory_msgs/JointTrajectory    "{joint_names: \
        ['linear_arm_actuator_joint',  'shoulder_pan_joint', 'shoulder_lift_joint', 'elbow_joint', 'wrist_1_joint', 'wrist_2_joint', 'wrist_3_joint'], \
     points: [ \
{time_from_start: {secs: 5}, \
        positions: [0.0, 3.14,  -1.570,  2.14, 3.27, -1.51, 0.0]}, \
]}" -1

Running Full Simulation

Manual Process for Testing

Terminal 1: ARIAC Environment

• cd /app/rrrobot_ws/src/rrrobot/scripts
• ./rrrobot_run_no_build.sh

Terminal 2: Build RRRobot Package & Arm Controller Node

• cd /app/rrrobot_ws
• catkin_make clean
• catkin_make
• source devel/setup.bash
• rosrun rrrobot arm_controller_node

Terminal 3: CV Model

• cd /app/rrrobot_ws/src/rrrobot/src/
• python3 cv_model.py

Terminal 4: Depth Camera Node (for getting pick up location)

• cd /app/rrrobot_ws/
• source devel/setup.bash
• rosrun rrrobot depth_camera_node

Terminal 5: Run the main rrrobot node

• cd /app/rrrobot_ws/
• source devel/setup.bash
• rosrun rrrobot rrrobot_node

Terminal 6: Run the node to spawn random objects onto the conveyor belt

• cd /app/rrrobot_ws/
• source devel/setup.bash
• rosrun rrrobot object_spawner_node

Semi-Automated Process

Terminal 1

In terminal 1, run the script that will build all components and run the nodes. You may need to adjust the sleep times in run_all.sh based on your system's performance such that there is enough time for each component to finish before proceeding.

• cd /app/rrrobot_ws/
• ./run_all.sh

Terminal 2

When a new item is spawned after the arm drops off the previous item, the conveyor belt must be manually started again using rosservice call /ariac/conveyor/control "power: 100" so that the item moves to the depth camera and the process can continue. You can do this in a new terminal since terminal 1 is running all of the simulation nodes.