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| # Extensible Robotic Beamline Scientist | ||
| Project repository for building extensible robotic beamline scientists at NSLS-II. | ||
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| ## Contents | ||
| Project repository for building extensible robotic beamline scientists at NSLS-II. | ||
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| ## Contents | ||
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| The majority of the contents in this repository are ROS2 packages with associated continer image manifests. | ||
| Each manifest in the [docker](./docker) directory is a container image that can be used to run a specific application in the system. | ||
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| ### Source Contents | ||
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| - [pdf_beamtime](./src/pdf_beamtime): ROS2 package for controlling the UR3e robot arm and HandE gripper at the PDF beamline. | ||
| - [pdf_beamtime_interfaces](./src/pdf_beamtime_interfaces): ROS2 package for defining the interfaces used in the pdf_beamtime package. | ||
| - [hello_moveit](./src/hello_moveit): ROS2 package for demonstrating simple actions using the MoveIt library with the UR3e robot arm. | ||
| - [hello_moveit_interfaces](./src/hello_moveit_interfaces): ROS2 package for defining the interfaces used in the hello_moveit package. | ||
| - [bluesky_ros](./src/bluesky_ros): Python module for integrating Bluesky and ROS2. | ||
| - [gripper_service](./src/gripper_service): ROS2 package for controlling the HandE gripper. | ||
| - [ur3e_hande_robot_description](./src/ur3e_hande_robot_description): ROS2 package for defining the UR3e robot arm with the HandE gripper. | ||
| - [ur3e_hande_moveit_config](./src/ur3e_hande_moveit_config): ROS2 package for configuring MoveIt for the UR3e robot arm with the HandE gripper. | ||
| - [aruco_pose](./src/aruco_pose): ROS2 package for detecting ArUco markers and calculating their pose. | ||
| - [ros2.repos](./src/ros2.repos): ROS2 workspace file for downloading the required external ROS2 dependencies. | ||
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| ### Docker Contents | ||
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| We use Podman throughout this work, but have named the container images with Docker in mind. | ||
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| - [erobs-common-img](./docker/erobs-common-img): Common container image for running the majority of applications herein, including: UR robot driver, gripper service, MoveIt service, and the pdf_beamtime_server (primary `Action` server). | ||
| - [ursim](./docker/ursim): Container image for running a simulated UR3e robot arm with a teach pendant. | ||
| - [ur-driver](./docker/ur-driver): Container image for running the UR3e robot arm ROS2 driver. | ||
| - [ur-moveit](./docker/ur-moveit): Container image for running MoveIt with the UR3e robot arm. | ||
| - [ur-example](./docker/ur-example): Container image for running a simple action with the UR3e robot arm. | ||
| - [ur-hande-draft](./docker/ur-hande-draft): Deprecated container image for running the UR3e robot arm with the HandE gripper. | ||
| - [erobs-hello-moveit](./docker/erobs-hello-moveit): Container image for running a simple action with the UR3e robot arm. | ||
| - [bsui](./docker/bsui): Container image for running the Bluesky User Interface with mounts at NSLS-II. | ||
| - [azure-kinect](./docker/azure-kinect): Container image for running the Azure Kinect ROS2 driver. | ||
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| ### Hello Moveit | ||
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| ### Hello Moveit | ||
| Demonstrations using a combination of the MoveIt tutorials and some UR specific tools, to show how to make simple actions | ||
| that can deploy MoveIt using the MoveGroupInterface. | ||
| that can deploy MoveIt using the MoveGroupInterface. | ||
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| ### Bluesky ROS | ||
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| Ongoing developments of integrating ROS2 and Bluesky. Currently targeted towards integrating Ophyd Objects as ROS2 Action Clients. | ||
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| ## Bluesky ROS | ||
| Ongoing developments of integrating ROS2 and Bluesky. Currently targeted towards integrating Ophyd Objects as ROS2 Action Clients. | ||
| ## Using Containers to Run the Full Applicaiton Suite | ||
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| ### Containers | ||
| - ursim: Will run a simulated robot and teach pendant to be accessed by VNC. Has preloaded programs and IP configuration for reverse control by ROS2. | ||
| - ur-driver: Runs the ROS2 driver for controlling the robot in simulator | ||
| - ur-moveit: Runs MoveIt configured to the UR and optionally RViz to be accessed by VNC | ||
| - ur-example: Generally unused example movement for testing. | ||
| The complete application uses a 1-node-per-container model. The containers are currently orchestrated by bash scripts detailed in the READMEs of each container image. Specifically, the full application is detailed in [erobs-common-img](./docker/erobs-common-img/README.md). | ||
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| ## Using Docker | ||
| ## Running some example applications | ||
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| ### Running the ur-example | ||
| In order to run the `ur-example` with Docker, follow this procedure: | ||
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| 1. Create the required images. | ||
| ```bash | ||
| cd docker | ||
| docker build -t ursim:latest ./ursim | ||
| docker build -t ur-driver:latest ./ur-driver | ||
| docker build -t ur-example:latest ./ur-example | ||
| ``` | ||
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| ```bash | ||
| cd docker | ||
| docker build -t ursim:latest ./ursim | ||
| docker build -t ur-driver:latest ./ur-driver | ||
| docker build -t ur-example:latest ./ur-example | ||
| ``` | ||
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| 2. Start the UR Simulator. In a new terminal, run | ||
| ```bash | ||
| docker compose up ursim | ||
| ``` | ||
| Open VNC client at `localhost:5900`. | ||
| Turn on and start the robot. | ||
| Go to the `Move` tab and click the `Home` button. | ||
| Press and hold the `Move robot to: New position` button to move the robot into position. Press `Continue`. | ||
| Verify the joint position is `[0, -90, 0, -90, 0, 0]` degrees. | ||
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| Note: setting initial position is requried for the `ur-example` to start, as specified in the `test_goal_publisher_config.yaml` file in the official Unviersal_Robots_ROS2_Driver repo. | ||
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| 3. Start the ur-driver. In a new terminal, run | ||
| ```bash | ||
| docker compose up urdriver | ||
| ``` | ||
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| ```bash | ||
| docker compose up ursim | ||
| ``` | ||
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| 3. Open VNC client at `localhost:5900`. | ||
| 4. Turn on and start the robot. | ||
| 5. Go to the `Move` tab and click the `Home` button. | ||
| 6. Press and hold the `Move robot to: New position` button to move the robot into position. Press `Continue`. | ||
| 7. Verify the joint position is `[0, -90, 0, -90, 0, 0]` degrees. | ||
| 8. Note: setting initial position is requried for the `ur-example` to start, as specified in the `test_goal_publisher_config.yaml` file in the official Unviersal_Robots_ROS2_Driver repo. | ||
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| 9. Start the ur-driver. In a new terminal, run | ||
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| ```bash | ||
| docker compose up urdriver | ||
| ``` | ||
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| Now, go back to the VNC client. In the `Program` tab, start the program. | ||
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| 4. Run the ur-example. In a new terminal, run | ||
| ```bash | ||
| docker compose up urexample | ||
| ``` | ||
| 10. Run the ur-example. In a new terminal, run | ||
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| ```bash | ||
| docker compose up urexample | ||
| ``` | ||
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| The in `Program/Graphics` tab, the robot should be moving between four poses every 6 seconds. | ||
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| ## Notes on VSCode Workspace | ||
| VSCode ROS2 Workspace Template Borrowed from @althack. | ||
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| VSCode ROS2 Workspace Template Borrowed from @althack. | ||
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| This template will get you set up using ROS2 with VSCode as your IDE. And help ensure consistent development across the project. | ||
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| See [how she develops with vscode and ros2](https://www.allisonthackston.com/articles/vscode_docker_ros2.html) for a more in-depth look on how to use this workspace. | ||
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| ROS2-approved formatters are included in the IDE. | ||
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| * **c++** uncrustify; config from `ament_uncrustify` | ||
| * **python** autopep8; vscode settings consistent with the [style guide](https://index.ros.org/doc/ros2/Contributing/Code-Style-Language-Versions/) | ||
| - **c++** uncrustify; config from `ament_uncrustify` | ||
| - **python** autopep8; vscode settings consistent with the [style guide](https://index.ros.org/doc/ros2/Contributing/Code-Style-Language-Versions/) | ||
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| ## Notes on pdf_beamtime and its tests | ||
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| pdf_beamtime is a work-in-progress package aiming to deploy the UR3e robot arm + HandE gripper at the PDF beamline. | ||
| This package depends on pdf_beamtime_interfaces. Follow the link below for information on the package and for the commands to call the servers implemented in the package. | ||
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| [Link to pdf_beamtime README](./src/pdf_beamtime/README.md) | ||
| [Link to pdf_beamtime README](./src/pdf_beamtime/README.md) |