This demo uses a Motoman HC10 mounted on a table with an Intel RealSense camera to reconstruct the surface of an arbitrary part and generate motion plans for polishing the part in a raster pattern
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Follow the build setup instructions for the main repository
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Clone the application-specific ROS2 dependencies into the same workspace
cd <snp_workspace> vcs import src < snp_automate_2022/dependencies.repos
colcon build --cmake-args -DTESSERACT_BUILD_FCL=OFF
Install the requisite ROS1 driver software to run the application on hardware
Note: this step is not required to run the application in simulation only
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Build the ros1_bridge
- Create a new workspace, clone this branch of the
ros1_bridge
repositorygit clone -b action_bridge https://github.com/ipa-hsd/ros1_bridge.git
- Source the both ROS distros
source /opt/ros/foxy/setup.bash source /opt/ros/noetic/setup.bash
- Build the bridge
colcon build --symlink-install --packages-select ros1_bridge --cmake-force-configure
- Create a new workspace, clone this branch of the
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Build the ROS1 workspace
- Create a new workspace, clone this commit of the
motoman
repositorygit clone -b 63c94ec https://github.com/ros-industrial/motoman.git
- Source the ROS1 installation
source /opt/ros/noetic/setup.bash
- Build the repo
catkin build
- Create a new workspace, clone this commit of the
ros2 launch snp_automate_2022 start.launch.xml
- Start the ROS1 launch file in a new terminal
cd <ros1_workspace> source devel/setup.bash roslaunch motoman_hc10_support robot_interface_streaming_hc10.launch robot_ip:=192.168.1.31 controller:=yrc1000
- Run the bridge in a second terminal
cd <bridge_workspace> source install/setup.bash ros2 run ros1_bridge dynamic_bridge --bridge-all-1to2-topics
- Start the ROS2 launch file in a third terminal
cd <snp_workspace> source install/setup.bash ros2 launch snp_automate_2022 start.launch.xml sim_robot:=false sim_vision:=false