My Masters Thesis Project
You can see my weekly blog at: https://tiagoatavares.github.io/tiagotavares_blog/
Integrated Tele-Operation of the ROBONUC Platform for Mobile Bin-Picking
Department of Mechanical Engineering (DEM), University of Aveiro (UA)
LAR: Laboratory of Automation and Robotics [ http://lars.mec.ua.pt/ ]
2019
Professor Doutor Vítor Manuel Ferreira dos Santos DEM, UA Aveiro, Portugal
Robutter II restructured (for more info see: http://lars.mec.ua.pt/public/LAR%20Projects/MobileManipulation/2017_BrunoVieira/ and http://lars.mec.ua.pt/public/LAR%20Projects/MobileManipulation/2017_VitorSilva/ )
Arduino Leonardo ETH Arduino Micro
Hokuyo URG-04LX-UG01 Hokuyo UTM-30LX
JoyStick/Gamepad Microsoft XBox 360
Fanuc Robot LR Mate 200iD
Microsoft Kinect
Laser Sensor DT20 Hi
(This section needs to be updated, because there are packages that have been cloned from other sources)
Install moveit, navigation, and costmap-converter:
sudo apt-get update
sudo apt-get install ros-melodic-moveit
sudo apt-get install ros-melodic-navigation
sudo apt-get install ros-melodic-costmap-converter
sudo apt-get install ros-melodic-teb-local-planner
To install the package for xbox joystick:
sudo apt-get install ros-melodic-joy
Intall hector_slam by source, em catkin_ws/src/ :
git clone https://github.com/tu-darmstadt-ros-pkg/hector_slam
Maybe you need to install q4 and q5 (not sure, that q5 is necessary):
sudo apt-get install build-essential
sudo apt-get install qtcreator
sudo apt-get install qt5-default
sudo apt-get install qt4-default
To compile, it is necessary to follow a certain order, because there are dependencies not included.
cd ~/catkin_ws
catkin_make -pkg driver_base
catkin_make -pkg hokuyo_node
catkin_make -pkg r_plataform
catkin_make -pkg comm_tcp
catkin_make
If you have some runtime errors in the automatic mode, or in map construction, check the position of the lasers. You just need to change the parameter "ttyACM", on launch file. Example:
<param name="port" type="string" value="/dev/ttyACM0" />
--->
<param name="port" type="string" value="/dev/ttyACM1" />
sudo apt-get install ros-melodic-xacro
sudo apt-get install ros-melodic-industrial-core
sudo apt-get install ros-melodic-ros-canopen
Ah this stage, ROS Industrial and xacro are installed. Now, you need to install this 2 packs:
git clone https://github.com/ros-industrial/fanuc.git
git clone https://github.com/ros-industrial/fanuc_experimental.git
If you have errors while compiling, you need to follow these steps:
cd ~/catkin_ws/src/fanuc_experimental/
find . -type f -exec sed -i 's/boost\:\:shared_ptr/std\:\:shared_ptr/g' {} \;
find . -type f -exec sed -i 's/boost\:\:const_pointer_cast/std\:\:const_pointer_cast/g' {} \;
cd ~/catkin_ws/src/fanuc/
find . -type f -exec sed -i 's/boost\:\:shared_ptr/std\:\:shared_ptr/g' {} \;
find . -type f -exec sed -i 's/boost\:\:const_pointer_cast/std\:\:const_pointer_cast/g' {} \;
To see the robot on rviz, you should launch:
export LC_NUMERIC="en_US.UTF-8" or echo 'export LC_NUMERIC="en_US.UTF-8"' >>~/.bashrc
(if the colors arent good)
roslaunch fanuc_lrmate200id_support test_lrmate200id.launch
Case you want to see the actual position of your robot:
On the TP, run rosstate
On terminal, launch:
roslaunch fanuc_lrmate200id_support robot_state_visualize_lrmate200id.launch robot_ip:=192.168.0.231
sudo apt-get install ros-melodic-openni-camera ros-melodic-openni-launch
Too see if the kinect is connected, launch:
roslaunch openni_launch openni.launch
And on Rviz add an image .
cd ~/catkin_ws/src
git clone https://github.com/lagadic/vision_visp
git clone https://github.com/UbiquityRobotics/fiducials.git
<!-- git clone https://github.com/pal-robotics/aruco_ros -->
git clone https://github.com/jhu-lcsr/aruco_hand_eye
sudo apt-get install libvisp-dev libvisp-doc visp-images-data
sudo apt-get install ros-melodic-vision*
sudo apt-get install ros-melodic-hector-xacro-tools
sudo apt-get install ros-melodic-hector-sensors-description
cd ..
catkin_make
To see total URDF, launch:
roslaunch robonuc_integration display_urdf_total.launch