From 10f7a4643fd9af7dc8c8d3f11cb220735689c37b Mon Sep 17 00:00:00 2001 From: Shiming-Liang <25278939+Shiming-Liang@users.noreply.github.com> Date: Thu, 3 Oct 2024 10:38:05 -0500 Subject: [PATCH 1/4] Rearranged section order of the grav comp doc for better coherence --- docs/ros2_packages/gravity_compensation.rst | 104 ++++++++++---------- 1 file changed, 52 insertions(+), 52 deletions(-) diff --git a/docs/ros2_packages/gravity_compensation.rst b/docs/ros2_packages/gravity_compensation.rst index 0f0a5c3..994db1f 100644 --- a/docs/ros2_packages/gravity_compensation.rst +++ b/docs/ros2_packages/gravity_compensation.rst @@ -23,11 +23,62 @@ This feature is useful when we use the arm as a teleoperation remote or when we Currently supported arms include: WidowX-250 6DOF and ALOHA WidowX-250 6DOF. +Structure +========= + +.. image:: images/xsarm_gravity_compensation_flowchart_ros2.png + :align: center + +As shown above, the `interbotix_xsarm_gravity_compensation` package builds on top of the `interbotix_xsarm_control` package whose details are given :doc:`here <./arm_control>`. + +This package contains a single node called **gravity_compensation**. +It subscribes to the ``//joint_states`` topic, computes and publishes the desired current commands to the ``//commands/joint_group`` topic. +Please refer to the `interbotix_gravity_compensation`_ repository for more details on its derivations and implementation. + +.. _`interbotix_gravity_compensation`: https://github.com/Interbotix/interbotix_ros_toolboxes/tree/humble/interbotix_common_toolbox/interbotix_gravity_compensation + +Usage +===== + +Run the following launch command, assuming the Aloha WidowX-250 arm is being used: + +.. code-block:: console + + $ ros2 launch interbotix_xsarm_gravity_compensation interbotix_gravity_compensation.launch.py robot_model:=aloha_wx250s + +It runs the ``gravity_compensation`` node and launches the ``xsarm_control`` script to bring up the arm. + +Then, enable/disable the gravity compensation with the following service call: + +.. code-block:: console + + $ ros2 service call /aloha_wx250s/gravity_compensation_enable std_srvs/srv/SetBool 'data: [true/false]' + +The arm will hold itself against gravity and can be moved freely when the gravity compensation is enabled. +It will lock in its current position when the gravity compensation is disabled. + +.. warning:: + + The arm WILL torque off and drop for a short period of time while enabling/disabling. + Please make sure it is in a resting position or manually held. + +.. warning:: + + The joints not supporting current control WILL torque off. + Please make sure to use an arm with at least the first three joints supporting current control, e.g., RX, WX, VX series. + +This is the bare minimum needed to get up and running. Take a look at the table below to see how to further customize with other launch file arguments. + +.. csv-table:: + :file: ../_data/gravity_compensation.csv + :header-rows: 1 + :widths: 20, 60, 20, 20 + Configuration ============= The **motor_specs.yaml** contains the motor specifications and options for motor assistance and dithering. -A template file is given below +Please check out the template file below for more details. .. code-block:: yaml @@ -114,54 +165,3 @@ A template file is given below Excessive dithering WILL cause heat and wear on the joints. Please use it with caution. - -Structure -========= - -.. image:: images/xsarm_gravity_compensation_flowchart_ros2.png - :align: center - -As shown above, the `interbotix_xsarm_gravity_compensation` package builds on top of the `interbotix_xsarm_control` package whose details are given :doc:`here <./arm_control>`. - -This package contains a single node called **gravity_compensation**. -It subscribes to the ``//joint_states`` topic, computes and publishes the desired current commands to the ``//commands/joint_group`` topic. -Please refer to the `interbotix_gravity_compensation`_ repository for more details on its derivations and implementation. - -.. _`interbotix_gravity_compensation`: https://github.com/Interbotix/interbotix_ros_toolboxes/tree/humble/interbotix_common_toolbox/interbotix_gravity_compensation - -Usage -===== - -Run the following launch command, assuming the Aloha WidowX-250 arm is being used: - -.. code-block:: console - - $ ros2 launch interbotix_xsarm_gravity_compensation interbotix_gravity_compensation.launch.py robot_model:=aloha_wx250s - -It runs the ``gravity_compensation`` node and launches the ``xsarm_control`` script to bring up the arm. - -Then, enable/disable the gravity compensation with the following service call: - -.. code-block:: console - - $ ros2 service call /aloha_wx250s/gravity_compensation_enable std_srvs/srv/SetBool 'data: [true/false]' - -The arm will hold itself against gravity and can be moved freely when the gravity compensation is enabled. -It will lock in its current position when the gravity compensation is disabled. - -.. warning:: - - The arm WILL torque off and drop for a short period of time while enabling/disabling. - Please make sure it is in a resting position or manually held. - -.. warning:: - - The joints not supporting current control WILL torque off. - Please make sure to use an arm with at least the first three joints supporting current control, e.g., RX, WX, VX series. - -This is the bare minimum needed to get up and running. Take a look at the table below to see how to further customize with other launch file arguments. - -.. csv-table:: - :file: ../_data/gravity_compensation.csv - :header-rows: 1 - :widths: 20, 60, 20, 20 From 8027b1beb4c91b7be83fdd2effcfbb7682283aab Mon Sep 17 00:00:00 2001 From: Shiming-Liang <25278939+Shiming-Liang@users.noreply.github.com> Date: Thu, 3 Oct 2024 16:46:55 -0500 Subject: [PATCH 2/4] Added reminder about using the latest packages --- docs/troubleshooting.rst | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/docs/troubleshooting.rst b/docs/troubleshooting.rst index 315e2bc..e082a17 100644 --- a/docs/troubleshooting.rst +++ b/docs/troubleshooting.rst @@ -13,6 +13,12 @@ your own issue`_. 20.04, ROS 2 Galactic on Ubuntu 20.04, and ROS 2 Humble, not on any other operating system (ex. Mac, Windows), or in a virtual machine. +.. important:: + + This guide assumes that the latest version of the software packages is used. + Before proceeding, please check that the software packages are up to date. + Otherwise, a clean reinstallation is recommended: backup your ``interbotix_ws`` directory, remove it from the ``$HOME`` directory, and run through the installation section. + .. _`interbotix_ros_manipulators bug tracker`: https://github.com/Interbotix/interbotix_ros_manipulators/issues?q=is%3Aissue .. _`open your own issue`: https://github.com/Interbotix/interbotix_ros_manipulators/issues/new/choose From c7cf287f437699ba5bcb19e2b559cf309d8ba216 Mon Sep 17 00:00:00 2001 From: Shiming-Liang <25278939+Shiming-Liang@users.noreply.github.com> Date: Thu, 3 Oct 2024 16:57:08 -0500 Subject: [PATCH 3/4] Added link to the installation page at the reminder --- docs/troubleshooting.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/troubleshooting.rst b/docs/troubleshooting.rst index e082a17..fc3df6a 100644 --- a/docs/troubleshooting.rst +++ b/docs/troubleshooting.rst @@ -17,7 +17,7 @@ your own issue`_. This guide assumes that the latest version of the software packages is used. Before proceeding, please check that the software packages are up to date. - Otherwise, a clean reinstallation is recommended: backup your ``interbotix_ws`` directory, remove it from the ``$HOME`` directory, and run through the installation section. + Otherwise, a clean reinstallation is recommended: backup your ``interbotix_ws`` directory, remove it from the ``$HOME`` directory, and run through the installation section for :doc:`ROS1 ` or :doc:`ROS2 `. .. _`interbotix_ros_manipulators bug tracker`: https://github.com/Interbotix/interbotix_ros_manipulators/issues?q=is%3Aissue .. _`open your own issue`: https://github.com/Interbotix/interbotix_ros_manipulators/issues/new/choose From 67bf7a60cd371cbfdb966ee79a4808be4e214b7c Mon Sep 17 00:00:00 2001 From: Shiming-Liang <25278939+Shiming-Liang@users.noreply.github.com> Date: Fri, 4 Oct 2024 09:23:05 -0500 Subject: [PATCH 4/4] Removed the reinstallation recommendation in the troubleshooting page --- docs/troubleshooting.rst | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/docs/troubleshooting.rst b/docs/troubleshooting.rst index fc3df6a..406a977 100644 --- a/docs/troubleshooting.rst +++ b/docs/troubleshooting.rst @@ -16,8 +16,7 @@ your own issue`_. .. important:: This guide assumes that the latest version of the software packages is used. - Before proceeding, please check that the software packages are up to date. - Otherwise, a clean reinstallation is recommended: backup your ``interbotix_ws`` directory, remove it from the ``$HOME`` directory, and run through the installation section for :doc:`ROS1 ` or :doc:`ROS2 `. + Before proceeding, please check that they are up to date. .. _`interbotix_ros_manipulators bug tracker`: https://github.com/Interbotix/interbotix_ros_manipulators/issues?q=is%3Aissue .. _`open your own issue`: https://github.com/Interbotix/interbotix_ros_manipulators/issues/new/choose