moveit2_workshop

Host packages used in ROS-I ROS2 Manipulation Workshops

Requirements

From the workspace directory, just above the src folder.

git clone git@github.com:ROS-I-Training/moveit2_workshop.git src

sudo apt install python3-vcstool

vcs import src --skip-existing --input src/moveit2_workshop/dependencies_rolling.repos

vcs import src --skip-existing --input src/ur5e_cell/dependencies_rolling.repos

source /opt/ros/rolling/setup.bash

rosdep install --from-paths src --ignore-src -r -y

colcon build --symlink-install

source install/local_setup,bash

Package Description

• moveit2_workshop: Metapackage to bind together dependent packages
• moveit2_workshop_app: Contains the demo application
• moveit2_workshop_bringup: Contains launch and configurations to bringup the demo

Bringup

Devices

To start only the perception pipeline and test if Aruco markers work correctly:

ros2 launch moveit2_workshop_bringup marker_detection.launch.py

Panda Demo Application

To start demos of the applications on Panda rviz only (no real robot)

Simple app:

ros2 launch moveit2_workshop_bringup dummy_app_simple.launch.py

Marker app (has static TFs for the markers in the launch):

ros2 launch moveit2_workshop_bringup dummy_app_marker.launch.py

UR5e Cell

Start the cell in one terminal first. This brings up the modified UR5e robot driver and its moveit pipeline.

ros2 launch ur5e_cell_bringup ur5e_cell_bringup.launch.py

Remember to start the External Control program on the UR5e teach pendant.

Then start one of the applications in another terminal.

Simple app:

ros2 launch moveit2_workshop_bringup ur5e_cell_app_simple.launch.py

Marker app (also launches marker detection pipeline):

ros2 launch moveit2_workshop_bringup ur5e_cell_app_marker.launch.py

Applications

Simple App

moveit2_workshop_app/src/app_simple.cpp

A very simple application that moves to two parametrised poses in cartesian space. These pose values are read from a parameter file, see below.

Marker App

moveit2_workshop_app/src/app_marker.cpp

Reads poses of two aruco markers from the TF tree and moves above each in a sequence. The aruco pose detection needs to be running for this to work.

Configuration

Configuring the marker detection

Following configs are placed in the moveit2_workshop_bringup/config/marker_detection folder:

• aruco_node_params.yaml: Params used by aruco_ros2 node, including camera topics, marker size and TF frame name.
• camera_node_params.yaml: Params used by usb_cam node, including camera source, image properties and link to calibration.
• camera_info.yaml: Camera calibration data, published in the camera_info topics by the usb_cam node.
• camera_tf.yaml: Contains positional calibration of the camera mount. Update if camera is moved.

Configuring the applications

For the Panda demo, configs are placed in moveit2_workshop_bringup/config/app/panda. For the UR5e Cell, configs are placed in moveit2_workshop_bringup/config/app/ur5e_cell.

• app_simple.yaml: Params to set the planning group, and "pick" and "place" pose values for the app_simple node. The poses are defined w.r.t the planning group's base_link frame.
• app_marker.yaml: Params to set the planning group, and names of the aruco marker frames for the app_marker node.