Checkpoint25_final_project

Fast solutution

Append these lines to .bashrc

source /opt/ros/humble/setup.bash
export ROS1_INSTALL_PATH=/home/peerajak/ros1_source_ws/install_isolated/
export ROS2_INSTALL_PATH=/opt/ros/humble/
export ROS1_BRIDGE_INSTALL_PATH=/home/peerajak/ros2_ws_ros1_bridge/install/
export ROS_DOMAIN_ID=2
source ~/ros2_ws/install/setup.bash

xhost +local:root
cd ~/ros2_ws/src/Checkpoint25_final_project/Docker_sim/Checkpoint25
docker compose up

then Open your web browser to

localhost:7000

or

<local ip address>:7000

Task 1. Simulation Moveit configuration

Run simulation

source ~/ros2_ws/install/setup.bash
ros2 launch the_construct_office_gazebo starbots_ur3e.launch.xml

or

xhost +local:root
cd ~/ros2_ws/src/Checkpoint25_final_project/Docker_sim/Checkpoint25
docker compose -f docker-compose-ros2sim_only.yml up

Check if controllers are loaded successfully

ros2 control list_controllers

Run Moveit

Terminal 2

cd ~/ros2_ws
source install/setup.bash

source install/setup.bash; ros2 launch my_moveit_config move_group.launch.py

Terminal 3

cd ~/ros2_ws
source install/setup.bash

source install/setup.bash; ros2 launch my_moveit_config moveit_rviz.launch.py

Terminal 4

cd ~/ros2_ws
source install/setup.bash

source install/setup.bash; ros2 launch moveit2_scripts move_sim_arm_to_show_aruco_trajectory.launch.py

Terminal 5

cd ~/ros2_ws
source install/setup.bash

source install/setup.bash; ros2 run my_tf_aruco aruco_to_camlink_tf_pub.py

to View TF frames

ros2 run tf2_tools view_frames

Terminal 6

To view RVIZ2 Camera

cd ~/ros2_ws/src/Checkpoint25_final_project/
rviz2 -d rviz/cp25_rviz.rviz

Important files

world file

~/ros2_ws/src/universal_robot_ros2/the_construct_office_gazebo/worlds/starbots_complete.world

robot xacro file

~/ros2_ws/src/universal_robot_ros2/Universal_Robots_ROS2_Description/urdf/ur.urdf.xacro

use blender to view 3d dae files.

Real Robot

Terminal 1

cd ~/ros2_ws/
source install/setup.bash; ros2 launch real_moveit_config move_group.launch.py

Terminal 2

cd ~/ros2_ws/
source install/setup.bash; ros2 launch real_moveit_config moveit_rviz.launch.py

Terminal 3

cd ~/ros2_ws/
source install/setup.bash; ros2 launch moveit2_scripts move_real_arm_to_show_aruco_trajectory.launch.py

Terminal 4

cd ~/ros2_ws/src/Checkpoint25_final_project/
rviz2 -d rviz/cp25_realrobot_rviz.rviz

Devop

Terminal 1: Rosbridge

This Rosbridge provide JSON connection to web browser

ros2 launch rosbridge_server  main_rosbridge_launch.py

Terminal 2: Http server

Installation

cd ~/webpage_ws/
ln -s ~/ros2_ws/src/Checkpoint25_final_project/cp25_webapp .

cd ~/webpage_ws/cp25_webapp
python3 -m http.server 7000

Working on, and Next step

• Task 1 solved. Move robot to the correct position, broadcast aruco_TF, and show the axes on aruco image.

• Real Robot

  • successfully move real robot to the correct position, but cannot see the image inside the image topic.
  • waiting for theConstruct to solve the image topic for me.

• Devop

  • Done ROS2 -> r1_bridge -> r1_web_bridge -> web, with moveit able to control, and web able to show moving robot arm.
  • TODO NEXT:
    • Web control robot arms into two position: 1) Home, 2) show_aruco (move_sim_arm_to_show_aruco_trajectory.launch.py)
    • docker run the aruco_detector (ros2 run my_tf_aruco aruco_to_camlink_tf_pub.py)
    • Show the aruco marker w.r.t. Camera in X,Y,Z, Yaw, Pitch, Row

Terminal 1

cd ~/MyRobotics/Checkpoint25/Checkpoint25_final_project/Docker_sim/dockerRos2USBcam_dockerRos1Bridge_dockerRos1WebBridge_webShowImage
docker compose -f docker-compose_r2cam.yml up

Terminal 2

cd ~/MyRobotics/Checkpoint25/Checkpoint25_final_project/Docker_sim/Checkpoint25
docker build -t ros1_and_web_bridge:v1 -f ./Dockerfile_Ros1_Web_Bridge .

Terminal 3

cd ~/MyRobotics/Checkpoint25/Checkpoint25_final_project/cp25_webapp/webpage
python3 -m http.server 7000

Terminal 4

docker stop ros1_tf2_webbridge
docker start ros1_tf2_webbridge

- TODO NEXT: Do Web dev on ROS1 and get all topic from above rosbridge. 

• Documentation
  • Not yet start

Trouble shooting.

Don't forget those dockers whose shoing the GUI on host computer must have called this command before running such the docker.

xhost +local:root