ROS Behavior Tree for UR Robot and MiR Platform Integration

This package implements a behavior tree-based control system for coordinating a Universal Robots (UR) arm, a Robotiq gripper, and a Mobile Industrial Robot (MiR) platform. It uses the py_trees library to create a flexible and modular control structure for complex robotic tasks.

Overview

This package provides a ROS-integrated behavior tree implementation for coordinating complex tasks involving a UR robot arm, a Robotiq gripper, and a MiR mobile platform. The behavior tree structure allows for flexible and modular task definition, making it easy to modify and extend the robot's behavior.

Key features:

• Coordinated control of UR robot, Robotiq gripper, and MiR platform
• Modular behavior tree structure for easy task modification
• ROS integration for seamless communication with robot hardware
• Delayed status checking for robust operation

Prerequisites

• ROS (tested on ROS Noetic)
• Python 3
• py_trees library
• Universal Robots ROS driver
• MiR platform ROS driver
• Robotiq gripper ROS driver

Installation

1. Clone this repository into your catkin workspace's src/your_package_name directory:

   cd ~/catkin_ws/src
   git clone https://github.com/SMAminNabipour/ROS-Behavior-Tree-for-UR-Robot-and-MiR-Platform-Integration.git
   

2. Add the launch file and scripts files to your package, launch and script folders.

Package Structure

your_package_name/
├── launch/
│   └── robot_bt.launch
├── scripts/
│   ├── behavior_tree_node.py
│   ├── ur_robot_node.py
│   ├── robotiq_gripper_node.py
│   ├── mir_platform_node.py
│   └── BT_main.py
├── CMakeLists.txt
└── package.xml

Node Descriptions

1. behavior_tree_node.py: Implements the main behavior tree structure and logic.
2. ur_robot_node.py: Interfaces with the UR robot arm.
3. robotiq_gripper_node.py: Controls the Robotiq gripper.
4. mir_platform_node.py: Manages the MiR mobile platform movement.
5. BT_main.py: Initializes and starts the behavior tree execution.

Behavior Tree Structure

The behavior tree is structured as follows:

1. Initial Parallel Movement
   • UR Robot Sequence (Move to positions 1-4)
   • MiR Platform Sequence (Move to positions 1-4)
2. Intermediate Sequence
   • UR Robot: Move to position 5
   • Open Gripper
   • UR Robot: Move to position 6
   • MiR Platform: Move away
3. MiR Return Sequence (Move back to positions 1-4)
4. Final UR Sequence
   • Move to position 5
   • Close Gripper
   • Move to position 6
5. Final MiR Movement (Move away)

Usage

To run the behavior tree:

roslaunch your_package_name robot_coordination.launch

Configuration

• UR Robot IP: Set in the launch file (robot_coordination.launch)
• Robotiq Gripper IP and Port: Set in the launch file
• MiR Platform: Ensure the correct ROS topics are set in mir_platform_node.py
• Robot positions: Defined in behavior_tree_node.py

Troubleshooting

• Ensure all ROS topics and services are correctly set up and match your robot configuration.
• Check ROS logs for any error messages or warnings.

Contributing

Contributions to improve the behavior tree or add new functionalities are welcome. Please fork the repository and submit a pull request with your changes.