coffee-dispenser-project

git clone --recursive https://github.com/Andy-Leo10/coffee-dispenser-project.git

git pull --recurse-submodules

• coffee-dispenser-project
• SIMULATED ROBOT
  • 0. For launching the simulation
  • 1. For launching the move_group and rviz nodes
  • 2. For launching the vision system
  • 3. For launching the manipulation service server
  • 4. For launching the Foxglove's bridge
  • 5. Others
• REAL ROBOT
  • 0. For checking the robot system
  • 1. For launching the move_group and rviz nodes
  • 2. For launching the vision system
  • 3. For launching the manipulation service server
  • 4. For launching the Foxglove's bridge
  • 5. Others
• DOCKER
  • Previous steps for Docker
  • Previous steps for visualization
  • Compose
  • Clean

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SIMULATED ROBOT

SIMULATED ROBOT

0. For launching the simulation

source ~/ros2_ws/install/setup.bash; ros2 launch the_construct_office_gazebo starbots_ur3e.launch.xml

cd ~/ros2_ws/ ;colcon build --packages-select barista_gazebo ur_description ur_simulation_gazebo the_construct_office_gazebo --event-handlers console_direct+; source install/setup.bash; ros2 launch the_construct_office_gazebo starbots_ur3e.launch.xml

Making sure things are working

ros2 topic echo /joint_states
ros2 topic echo /robot_description
ros2 topic echo /tf
ros2 control list_controllers
ros2 run tf2_ros tf2_echo base_link tool0
ros2 run tf2_tools view_frames

1. For launching the move_group and rviz nodes

cd ~/ros2_ws/; colcon build --packages-select sim_moveit_config; source ~/ros2_ws/install/setup.bash; ros2 launch sim_moveit_config run_moveit.xml

2. For launching the vision system

Set the environment

export PYTHONPATH=$PYTHONPATH:/home/user/ros2_ws/src/coffee-dispenser-project/robot_ur3e_perception/venv/lib/python3.10/site-packages/

cd /home/user/ros2_ws/src/coffee-dispenser-project/robot_ur3e_perception; source venv/bin/activate

LAUNCH

cd ~/ros2_ws/ ;colcon build --packages-select robot_ur3e_perception --symlink-install; source install/setup.bash; ros2 launch robot_ur3e_perception alt_yolov5_tf.launch.py

3. For launching the manipulation service server

Set some parameters

ros2 param load /joint_trajectory_controller /home/user/ros2_ws/src/coffee-dispenser-project/robot_ur3e_manipulation/params/goal_precision_sim.yaml

ros2 param load /moveit_simple_controller_manager /home/user/ros2_ws/src/coffee-dispenser-project/robot_ur3e_manipulation/params/timeout_allowed.yaml

LAUNCH

cd ~/ros2_ws/; colcon build --packages-select robot_ur3e_manipulation; source install/setup.bash; ros2 launch robot_ur3e_manipulation sim_service_server.launch.py

Calling to service to order a coffee

ros2 service call /robot_ur3e_manipulation_ss robot_ur3e_manipulation/srv/DeliverCoffeeService 'coffe_order: true'

4. For launching the Foxglove's bridge

cd ~/ros2_ws/ ;colcon build --packages-select robot_ur3e_web;source install/setup.bash; ros2 launch robot_ur3e_web robot_ur3e_web.launch

if it is not installed

sudo apt-get update; sudo apt-get install ros-humble-foxglove-bridge

check the 'ip' of the virtual machine

rosbridge_address

5. Others

ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args --remap cmd_vel:=/barista_1/cmd_vel

ros2 run gazebo_ros spawn_entity.py -file /home/user/ros2_ws/src/coffee-dispenser-project/universal_robot_ros2/the_construct_office_gazebo/models/portable_cup_2/color.sdf -x 14.16 -y -18.19 -z 1.025 -R 1.57 -P 0 -Y 0 -entity cupX

cd ~/ros2_ws/; colcon build --packages-select robot_ur3e_manipulation; source install/setup.bash; ros2 launch robot_ur3e_manipulation sim_pick_and_place_advanced.launch.py

3_example.mp4

---

REAL ROBOT

REAL ROBOT

0. For checking the robot system

Making sure things are going to work

ros2 topic echo /joint_states
ros2 topic echo /robot_description
ros2 topic echo /tf
ros2 control list_controllers
ros2 run tf2_ros tf2_echo base_link tool0
ros2 run tf2_tools view_frames

1. For launching the move_group and rviz nodes

for real arm

cd ~/ros2_ws/; colcon build --packages-select real_moveit_config; source ~/ros2_ws/install/setup.bash; ros2 launch real_moveit_config run_moveit.xml

2. For launching the vision system

Set the environment

export PYTHONPATH=$PYTHONPATH:/home/user/ros2_ws/src/coffee-dispenser-project/robot_ur3e_perception/venv/lib/python3.10/site-packages/

cd /home/user/ros2_ws/src/coffee-dispenser-project/robot_ur3e_perception; source venv/bin/activate

LAUNCH

cd ~/ros2_ws/ ;colcon build --packages-select robot_ur3e_perception --symlink-install; source install/setup.bash; ros2 launch robot_ur3e_perception real_yolov5_tf.launch.py

optionally

ros2 param set /D415/D415 pointcloud.enable true

3. For launching the manipulation service server

Set some parameters

ros2 param load /scaled_joint_trajectory_controller /home/user/ros2_ws/src/coffee-dispenser-project/robot_ur3e_manipulation/params/goal_precision_real.yaml

ros2 param load /moveit_simple_controller_manager /home/user/ros2_ws/src/coffee-dispenser-project/robot_ur3e_manipulation/params/timeout_allowed.yaml

LAUNCH

cd ~/ros2_ws/; colcon build --packages-select robot_ur3e_manipulation; source install/setup.bash; ros2 launch robot_ur3e_manipulation real_service_server.launch.py

Calling to service to order a coffee

ros2 service call /robot_ur3e_manipulation_ss robot_ur3e_manipulation/srv/DeliverCoffeeService 'coffe_order: true'

4. For launching the Foxglove's bridge

cd ~/ros2_ws/ ;colcon build --packages-select robot_ur3e_web;source install/setup.bash; ros2 launch robot_ur3e_web robot_ur3e_web.launch

if it is not installed

sudo apt-get update; sudo apt-get install ros-humble-foxglove-bridge

check the 'ip' of the virtual machine

rosbridge_address

5. Others

cd ~/ros2_ws/; colcon build --packages-select robot_ur3e_manipulation; source install/setup.bash; ros2 launch robot_ur3e_manipulation real_pick_and_place_advanced.launch.py

3_example.mp4

---

DOCKER

DOCKER

Previous steps for Docker

installation

sudo apt-get update
sudo apt-get install docker.io docker-compose -y
sudo service docker start

add user to docker-group

sudo usermod -aG docker $USER
newgrp docker

Previous steps for visualization

check display available

ls -la /tmp/.X11-unix/
echo $DISPLAY

remove restrictions to X-server

xhost +local:root

Compose

docker-compose -f docker-compose-sim.yml up --build
docker-compose -f docker-compose-sim.yml up --build | tee build.log

execute a bash of the service

docker exec -it container_NAME /bin/bash

Clean

docker kill $(docker ps -aq) &> /dev/null;
docker container prune -f
docker rmi $(docker images -q) -f

docker-coffee-sim.mp4

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