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SNP Implementation at Automate 2022

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

Build Setup

  1. Follow the build setup instructions for the main repository

  2. Clone the application-specific ROS2 dependencies into the same workspace

    cd <snp_workspace>
    vcs import src < snp_automate_2022/dependencies.repos
    

Build

colcon build --cmake-args -DTESSERACT_BUILD_FCL=OFF

ROS1 Hardware Interface Software Installation

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

  1. Build the ros1_bridge

    • Create a new workspace, clone this branch of the ros1_bridge repository
      git 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
  2. Build the ROS1 workspace

    • Create a new workspace, clone this commit of the motoman repository
      git 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

Running the system

Simulation

ros2 launch snp_automate_2022 start.launch.xml

On Hardware

  1. 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
  2. Run the bridge in a second terminal
    cd <bridge_workspace>
    source install/setup.bash
    ros2 run ros1_bridge dynamic_bridge --bridge-all-1to2-topics
  3. 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