Install Niryo One ROS stack

Install Required Environment

The requirements are:

• Ubuntu 18.04
• ROS Melodic

The detailed requirement can be found in Ubuntu 18 Installation

Install An Additional Python Module

The official method is:

sudo -H pip install jsonpickle

However, you may encount some errors regrading pip install <package_name>.

If so, you can use:

sudo apt-get update -y
sudo apt-get install -y python-jsonpickle

Then, you have successfully downloaded the required package. You can check in the default path:

/usr/bin/python2.7/site-package

Clone GitHub Resource

git clone https://github.com/NiryoRobotics/ned_ros

Build URDF (Unified Robot Description Format)

Create A New Workspace

• Create a new folder niryo_ws and initialize worksapce.

mkdir -p niryo_ws/src
cd niryo/src
catkin_init_workspace

• Copy niryo_robot_description into new folder. Then, compile the folder.

catkin_make

Don't forget to add new setup.bash command into ~/.bashrc.

Create SRDF Files

Although there already has a SRDF file in the folder, some mistakes are exsited. Therefore, we need to generate it by ourselves.

1. Launch Moveit Assistant

roslaunch moveit_setup_assistant setup_assistant.launch

2. Choose "Create New Moveit Configuration Package".

3. Add niryo_one_gripper1_n_camera.urdf.xacro path. Now, you can see the preview of your model on the right.

   

4. In "Self-Collisions" page, you can remain the default setting and click "Generate Collision Matrix".

5. The "Virtual Joints" is ignored.

6. In "Planning Group" page, here we can reference the file in /catkin_ws_niryo_one/src/niryo_robot_moveit_config/niryo_moveit_config_w_gripper1/config/one/niryo_one.srdf. It can be derived from the picture that there are two groups, namely "arm" and "tool".

   

   Add correspnding joints and links. In arm group, we choose kdl_kinematics_plugin/KDLKinamaticsPlugin as Kinematic Solver and select RRTConnect as Group Default Planner. In tool group, we don't need to set these.

   Finally, it looks like this.

   

7. The "Robot Poses" is ignored here.

8. In "End Effectors" page, add as followed:

   

9. In "ROS Controller" page, enter arm_position_controller as Controller Name. Choose position_controllers/JointPositionController as controller type.

10. Finally, add author information as you wish. Set generate path as a new folder named niryo_moveit_config in your workspace. Click Generate Package button.

Control Robotics Arm in Simulation

1. Back to your workspace and compile configration files.

   cd ~/niryo_ws
   catkin_make
   

2. Open simulation model in Rviz.

   roslaunch niryo_moveit_config demo.launch
   

   Some issues may encounter like:

   

   In such situation, just go to /niryo_moveit_config/config/fake_controllers.yaml and /sensors_3d.yaml. Than delete initial and sensors. Rerun the command and you will find the error messages have gone.

   

3. Create a new package to store python command files.

   catkin_create_pkg niryo_robot_control roscpp rospy std_msgs
   cd ~/niryo_ws
   catkin_make
   
   mkdir -p niryo_robot_control/scripts
   cd niryo_robot_control/scripts
   touch demo.py
   

Control Physical Robotics Arm