MSBRDM FINAL PROJECT

Click to see our demo video:

Impedance Controller

Run the Impedance Controller

roslaunch tum_ics_ur10_bringup bringUR10.launch
roslaunch impedance_controller impedance_controller.launch

Test the Impedance Controller

Now you can only test the joint control:

rosrun knob_controller knob_control.py

Ros Service

Move the arm to a specific joint position:

rosservice call /move_arm_joint "{joint0: 0.0, joint1: -1.0, joint2: -1.0, joint3: -1.0, joint4: 1.0, joint5: 0.0}"

Move the arm to a specific pose [ON PROGRESS]:

rosservice call /move_arm_cartesian "{x: 0.5, y: -0.2, z: 0.7, rx: 0.0, ry: 0.0, rz: 0.0}"

DEMO

First tun the FT Sensor:

roslaunch tum_ics_schunk_netbox sensor_publisher.launch

Then run the KNOB GUI, You will see some warning, just ignore them. And DON't CLICK "Mode Publish" button until robot arm switch to the joint mode !!!.

roslaunch knob_robot_control knob_interface.launch

Run the real robot

roslaunch tum_ics_ur_robot_manager robot_script_manager_ur10.launch
roslaunch impedance_controller impedance_controller.launch

When robot arm finish the initial process and switch into joint control, then you can choose control mode and publish it in the GUI!

Build

install the pkg:

sudo dpkg -i tum*
sudo dpkg -i lib*
sudo dpkg -i ros*

catkin build

Note: If you face any issues with the build, please first see the Issue #35.

Knob

Check the IP addr

roslaunch tum_ics_ur10_bringup bringUR10.launch
roslaunch knob_robot_control knob_interface.launch
roslaunch impedance_controller impedance_controller.launch

Run the Test Environment

Please follow the following commands:

roslaunch tum_ics_ur10_bringup bringUR10.launch
roslaunch tum_ics_ur10_controller_tutorial simple_effort_controller.launch

Force Torque Sensor

roslaunch tum_ics_schunk_netbox sensor_publisher.launch
rostopic echo /schunk_netbox/raw 
header: 
  seq: 27494
  stamp: 
    secs: 1708778150
    nsecs: 385334359
  frame_id: "ft_sensor_link"
wrench: 
  force: 
    x: -131.479277
    y: -76.275814
    z: 485.809591
  torque: 
    x: -0.78713
    y: -6.932118
    z: -4.1215
---

rostopic info /schunk_netbox/raw 
Type: geometry_msgs/WrenchStamped

Publishers: 
 * /schunk_netbox/schunk_netbox (http://redball:36389/)

Subscribers: None

Run the Real Ur

roscore

roslaunch tum_ics_ur10_bringup bringUR10.launch

roslaunch tum_ics_ur_robot_manager robot_script_manager_ur10.launch

roslaunch impedance_controller impedance_controller.launch

roslaunch tum_ics_schunk_netbox sensor_publisher.launch

rosrun knob_robot_control fake_ft_pub.py

Yanbing

catkin build impedance_controller

roslaunch tum_ics_ur10_bringup bringUR10.launch

roslaunch impedance_controller impedance_controller.launch

rosservice call /move_arm_cartesian "{x: 0.47, y: -0.16, z: 0.71, rx: 0.0, ry: 0.0, rz: 0.0}"

rosrun knob_robot_control fake_ft_pub.py

rostopic echo /schunk_netbox/raw

z: 0.81~0.51 为了好理解，省去了- 没有force情况 tau(2) < 43/40: 向上移动（35） tau(2) > 43/40: 向下移动（47） => 因此，force情况下，