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Second phase of ROS and MTConnect integration; demo using RViZ.
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Latest commit 4a281c5 Nov 27, 2018
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ceccrebot_demo_support Default RViz config change Sep 11, 2018
demo_ur10_moveit_config Faster motions Sep 10, 2018


Demo for a distributed digital manufacturing setup (see in a ROS environment setup.

Following are the steps involved in the ROS environment Setup:

  1. Install ROS

  2. Create a catkin workspace

  3. Clone ros_mtconnect_2* repositories

  4. Install dependencies

  5. Compile the project

  6. Setup environment

  7. Run demos

Install ROS

  1. Start with a standard Ubuntu 16.04 installation.

  2. Follow directions at to download and install ROS Kinetic. Select the ros-kinetic-desktop-full option.

  3. Skip section 1.6, Environment Setup. The default environment will be set up to point to the project directory instead later.

  4. Install catkin_tools,

    sudo apt-get install python-catkin-tools

Create a Catkin Workspace

More details on catkin at

  1. Anywhere in the home directory, create an empty directory with arbitrary name to store the workspace of the project.

    cd ~

    mkdir catkin_workspace

  2. Inside the new directory create an empty src/ directory.

Clone ros_mtconnect_2* repositories

  1. Open a terminal and navigate to the src/ directory of your newly created workspace. Run:

    git clone

    git clone

Install Dependencies

Source ros setup:

. /opt/ros/kinetic/setup.bash


sudo apt-get install <package_name>


Some packages must be cloned from their git repositories.

  1. Open a terminal and navigate to the src/ directory of the newly created workspace. Run:

    git clone

    git clone

There are a bunch of ROS packages that need to be identified as explicit dependencies so they can be auto-installed.

If the build fails and then the respective ROS package/s (dependencies) must be manually installed as needed. When the compilation fails, scroll up the terminal until the first error is seen(red text). If it says something like cannot find industrial_coreConfig.cmake, it means that is a missing ROS package. Run

sudo apt-get install ros-kinetic-industrial-core

to fix, where package-name is whatever appears in the error (e.g., "industrial_core"). Note the switch from underscores to hyphens from the ROS package name to the Ubuntu package name.

If the build fails of ceccrebot_demo and the solution above doesnt work, try the following:

sudo apt-get update

sudo apt-get dist-upgrade

catkin clean

catkin build

Compile the Project

With an open terminal anywhere under the root directory of the workspace, run catkin build. Fix errors about any missing system dependencies that are not ROS packages by:

catkin clean

Note: If robotiq/robot_s_mode_control gives problems. Try the following:

cd src/robotiq/robotiq_s_model_control

catkin build --this

catkin build

Setup ROS environment

For the system to automatically point to this project's workspace and if the other ROS workspaces are not being used:

Add source ~/path/to/workspace/devel/setup.bash to the bottom of the .bashrc file inside the home directory.

Otherwise, the environment setup script has to be run in every new terminal:

Inside the workspace directory, run . devel/setup.bash .

To check that the current terminal environment is correct, run roscd and see if it brings to the workspace directory.

Check Environment

In a new terminal with an environment pointing to the project workspace (i.e. with the project's setup.bash file sources as discussed above), run one of the following:

roslaunch ceccrebot_demo_support single_robot_demo.launch

roslaunch ceccrebot_demo_support multi_robot_demo.launch

This launches a graphical environment to show the a (kinematically) simulated robot and an example workcell. If RViz starts up and a 3D visualization of a robot and other hardware is seen, everything is good to go.

Setup for Integrating ROS with State Machine

At this point, ROS should have been installed with a workspace created. Inside the src/ directory of that workspace there should be ros_mtconnect_2, ros_mtconnect_2_demo, robotiq.

For these instructions, the ROS workspace is assumed to be ~/catkin_workspace . Replace, if different, ~/catkin_workspace with the ROS workspace created.

Fix hardcoded paths for your setup

  1. Open a new terminal

  2. gedit


  3. Change lines 8 and 9 to

    sys.path.append(os.path.join(os.getenv('HOME'), 'catkin_workspace/src/ros_mtconnect_2'))

    sys.path.append(os.path.join(os.getenv('HOME'), 'catkin_workspace/src/ros_mtconnect_2/simulator/src'))

  4. Save and close

  5. gedit


  6. Change line 124 to

    os.chdir(os.path.join(os.getenv("HOME"), "catkin_workspace/src/ros_mtconnect_2/simulator/src"))

  7. Save and close

  8. gedit


  9. Change line 5 to

    path = os.path.join(os.getenv('HOME'), 'catkin_workspace/src/ros_mtconnect_2/simulator/src')

  10. Save and close

Create Python Environment

Some of these steps may not be necessary depending on what software is already installed on the computer.

  1. Open a terminal

  2. sudo apt install python-pip

  3. pip install pipenv

  4. cd ~/catkin_workspace/src/ros_mtconnect_2/simulator

    There should be a Pipfile here

  5. pipenv shell

    This will launch the pip environment in this terminal

  6. pip install transitions doublex requests mock mamba

  7. Open a new terminal and in that terminal type:

    killall pipenv

  8. gedit ~/.bashrc

  9. Add this line to the bottom:

    export PYTHONPATH=\$PYTHONPATH:/usr/lib/python2.7/dist-packages

Build the Agent

  1. Open a terminal and enter these commands

  2. sudo apt install libcppunit-dev

  3. cd ~

  4. git clone

  5. cd ~/cppagent

  6. mkdir build

  7. cd build

  8. cmake ..

  9. make

  10. cd ~/catkin_workspace/src/ros_mtconnect_2/simulator/src/deviceFiles

  11. ~/cppagent/build/agent/agent

  12. Open a web browser and navigate to localhost:5000 to verify that the agent is running

Launching the Simulation

For launching live demo, two terminals will be neeeded. Both should have the ROS environment sourced as discussed in the setup instructions (source ~/your/workspace/devel/setup.bash). Note that since this script is written for the industrial PC associated with the demo, some changes to source files may have to be made as well. See commit d0b067 - Local changes for startup script for details.

  1. Launch gripper. There are permissions issues with this. It must be launched with root privileges

    sudo su --preserve-environment

    roslaunch ceccrebot_demo_support robotiq_gripper.launch

  2. Make sure that the robot is not initiated by the cell simulator.

    gedit ~/catkin_workspace/src/ros_mtconnect_2/simulator/src/

    ln(30) #self.initiate_robot('localhost',7996) Should be commented out since it will be initiated in the ROS environment.

  3. Launch startup script

    cd ~/catkin_workspace/src/ros_mtconnect_2/simulator/src


  4. (Optional) To restart, ctrl-c both terminals and restart.

  5. (Optional) Instead of using, each xterm command within the file can be started in a separate terminals.

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