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Warning

This robot and this repository have been supported for a short period of time and may be improved frequently and significantly in the future.

SOBIT LIGHT

Table of Contents

Introduction
Getting Started
- Prerequisites
- Installation
　Launch and Usage
- If only using mobile mechanism
- Visualization on Rviz
　Software
- Joint Controller
- Wheel Controller
　Hardware
Milestone
References

Introduction

This is a library to operate the Kachaka-integrated mobile manipulator (SOBIT LIGHT) developed by SOBITS.

Warning

If you have no previous experience controlling this robot, please have a senior colleague accompany you while you want to use this robot. Please note that the use of SOBIT LIGHT requires the use of Docker.

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Getting Started

This section describes how to set up this repository.

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Prerequisites

First, please set up the following environment before proceeding to the next installation stage.

System	Version
Ubuntu	22.04 (Jammy Jellyfish)
ROS	Humble Hawksbill
Python	3.10

Note

If you need to install Ubuntu or ROS, please check our SOBITS Manual.

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Installation

What to do in the development environment where you want to use SOBIT LIGHT or in Docker
1. Go to the src folder of ROS.
```
$ cd ~/colcon_ws/src/
```
2. Clone this repository.
```
$ git clone https://github.com/TeamSOBITS/sobit_light
```
3. Navigate into the repository.
```
$ cd sobit_light/
```
4. Install the dependent packages.
```
$ bash install.sh
```
5. Compile the package.
```
$ cd ~/colcon_ws/
$ colcon build --symlink-install
$ source ~/colcon_ws/install/setup.sh
```
What to do locally (after the second time, only 4 is needed)
1. Clone the Kachaka API
```
$ cd
$ git clone https://github.com/TeamSOBITS/kachaka-api.git
```
2. Check the Kachaka IP address bringup the Kachaka.Please call out, “ねぇカチャカ，IPアドレスを教えて”
  IP address is read out from Kachaka.
3. Set up the Command
```
$ echo 'alias kachaka="cd ~/kachaka-api/tools/ros2_bridge && ./start_bridge.sh "' >> ~/.bashrc
```
4. Create the Docker container of Kachaka
```
$ kachaka XXX.XXX.XX.XX
```
  ※ XXX.XXX.XX.XX is Kachaka IP address

Note

If the IP address of the container created here is changed, delete the Docker container and start from scratch.

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Launch and Usage

Execute the launch file minimal.launch.

$ roslaunch sobit_light_bringup minimal.launch.py

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Visualize on Rviz2

As a preliminary step to running the actual machine, SOBIT LIGHT can be visualized on Rviz to display the robot's configuration.

$ ros2 launch sobit_light_description display.launch.py

If it works correctly, Rviz will be displayed as follows.

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Software

Summary of information on SOBIT LIGHT and related software

Joint Controller

This is a summary of information for moving the pan-tilt mechanism and manipulators of SOBIT LIGHT.

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Movement Methods

moveToPose() : Move it to a predetermined pose.

bool moveToPose(
    const std::string& pose_name,               // Pose name
    const double sec = 5.0                      // Moving duration [s]
    bool is_sleep = true                        // Flag for sleep after movement
);

[!NOTE] Existing poses are found in sobit_light_pose.yaml. Please refer to How to set new poses for how to create poses.

moveAllJoint() : Moves all joints to an arbitrary angle.

bool sobit::SobitProJointController::moveAllJoint (
    const double arm_shoulder_tilt_joint,       // Moving Angle [rad]
    const double arm_elbow_upper_tilt_joint,    // Moving Angle [rad]
    const double arm_elbow_lower_tilt_joint,    // Moving Angle [rad]
    const double arm_elbow_lower_pan_joint,     // Moving Angle [rad]
    const double arm_wrist_tilt_joint,          // Moving Angle [rad]
    const double hand_joint,                    // Moving Angle [rad]
    const double head_pan_joint,                // Moving Angle [rad]
    const double head_tilt_joint,               // Moving Angle [rad]
    const double sec = 5.0,                     // Moving Angle [s]
    bool is_sleep = true                        // Flag for sleep after movement
);

moveJoint() : Moves a specified joint to an arbitrary angle.

bool sobit::SobitProJointController::moveJoint (
    const Joint joint_num,                      // Joint Number (Defined)
    const double rad,                           // Moving Angle [rad]
    const double sec = 5.0,                     // Moving Duration [s]
    bool is_sleep = true                        // Flag for sleep after movement
);

[!NOTE] Joint Number please check Joints Name.

moveArm() : Moves the robot arm joints to an arbitrary angle.

bool sobit::SobitProJointController::moveArm(
    const double arm_shoulder_tilt_joint,       // Moving Angle [rad]
    const double arm_elbow_upper_tilt_joint,    // Moving Angle [rad]
    const double arm_elbow_lower_tilt_joint,    // Moving Angle [rad]
    const double arm_elbow_lower_pan_joint,     // Moving Angle [rad]
    const double arm_wrist_tilt_joint,          // Moving Angle [rad]
    const double sec = 5.0,                     // Moving Duration [s]
    bool is_sleep = true                        // Flag for sleep after movement
);

moveHeadPanTilt() : Moves the pan-tilt mechanism to an arbitrary angle.

bool sobit::SobitProJointController::moveHeadPanTilt(
    const double head_camera_pan,               // Moving Angle [rad]
    const double head_camera_tilt,              // Moving Angle [rad]
    const double sec = 5.0,                     // Moving Duration [s]
    bool is_sleep = true                        // Flag for sleep after movement
);

moveHandToTargetCoord() : Move the hand to xyz coordinates (grasp mode).

bool sobit::SobitProJointController::moveHandToTargetCoord(
    const double target_pos_x,                  // Grasp destination x [m]
    const double target_pos_y,                  // Grasp destination y [m]
    const double target_pos_z,                  // Grasp destination z [m]
    const double shift_x,                       // Shift the x-axis [m]
    const double shift_y,                       // Shift the y-axis [m]
    const double shift_z                        // Shift the z-axis [m]
    const double sec = 5.0,                     // Moving Duration [s]
    bool is_sleep = true                        // Flag for sleep after movement
);

moveHandToTargetTF() : Moves the hand to the tf name (grasp mode).

bool sobit::SobitProJointController::moveHandToTargetTF(
    const std::string& target_name,             // Grasp Target tf name
    const double shift_x,                       // Shift the x-axis [m]
    const double shift_y,                       // Shift the y-axis [m]
    const double shift_z                        // Shift the z-axis [m]
    const double sec = 5.0,                     // Moving Duration [s]
    bool is_sleep = true                        // Flag for sleep after movement
);

moveHandToPlaceCoord() : Moves the hand to xyz coordinates (placement mode).

bool sobit::SobitProJointController::moveHandToPlaceCoord(
    const double target_pos_x,                  // Place destination x [m]
    const double target_pos_y,                  // Place destination y [m]
    const double target_pos_z,                  // Place destination z [m]
    const double shift_x,                       // Shift the x-axis [m]
    const double shift_y,                       // Shift the y-axis [m]
    const double shift_z                        // Shift the z-axis [m]
    const double sec = 5.0,                     // Moving Duration [s]
    bool is_sleep = true                        // Flag for sleep after movement
);

moveHandToPlaceTF() : Moves the hand to the tf name (placement mode).

bool sobit::SobitProJointController::moveHandToPlaceTF(
    const std::string& target_name,             // Place Target tf name
    const double shift_x,                       // Shift the x-axis [m]
    const double shift_y,                       // Shift the y-axis [m]
    const double shift_z                        // Shift the z-axis [m]
    const double sec = 5.0,                     // Moving Duration [s]
    bool is_sleep = true                        // Flag for sleep after movement
);

graspDecision() : Based on the hand current value , the grasp judgment is returned. cpp bool sobit::SobitProJointController::graspDecision( const int min_curr = 300, // Minimum current value const int max_curr = 1000 // Maximum current value );
placeDecision() : Based on the hand current value , the place judgment is returned. cpp bool sobit::SobitProJointController::placeDecision( const int min_curr = 500, // Minimum current value const int max_curr = 1000 // Maximum current value );

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Joints name

The joint names of SOBIT LIGHT and their constants are listed below.

Joint Number	Joint Name	Joint Constant Name
0	arm_shoulder_1_tilt_joint	ARM_SHOULDER_1_TILT_JOINT
1	arm_shoulder_2_tilt_joint	ARM_SHOULDER_2_TILT_JOINT
2	arm_elbow_upper_1_tilt_joint	ARM_ELBOW_UPPER_1_TILT_JOINT
3	arm_elbow_upper_2_tilt_joint	ARM_ELBOW_UPPER_2_TILT_JOINT
4	arm_elbow_lower_tilt_joint	ARM_ELBOW_LOWER_TILT_JOINT
5	arm_elbow_lower_pan_joint	ARM_ELBOW_LOWER_PAN_JOINT
6	arm_wrist_tilt_joint	ARM_WRIST_TILT_JOINT
7	hand_joint	HAND_JOINT
8	head_pan_joint	HEAD_PAN_JOINT
9	head_tilt_joint	HEAD_TILT_JOINT

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How to set new poses

TODO!

Set where Pose is defined in sobit_light_joint_controller.py.
Add the Pose name you wish to define to the poses.names list, and then set the angle of each joint in the poses.(Pose name) list.

Wheel Controller

This is a summary of information for moving the SOBIT LIGHT moving mechanism.

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Moving Methods

controlWheelLinear() : Perform translational motion (straight-line, diagonal, or lateral movement).

bool sobit::SobitProWheelController::controlWheelLinear (
    const double distance_x,                    // Straight travel distance in x direction [m]
    const double distance_y,                    // Straight travel distance in y direction [m]
)

controlWheelRotateRad() : Perform rotational motion (method: Radian)

bool sobit::SobitProWheelController::controlWheelRotateRad (
    const double angle_rad,                     // Center Rotation Angle [rad]
)

controlWheelRotateDeg() : Perform rotational motion (method: Degree)

bool sobit::SobitProWheelController::controlWheelRotateDeg ( 
    const double angle_deg,                     // Center Rotation Angle (deg)
)

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Hardware

SOBIT LIGHT is available as open source hardware at OnShape.

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For more information on hardware, please click here.

How to download 3D parts

Access Onshape.

[!NOTE] You do not need to create an OnShape account to download files. However, if you wish to copy the entire document, we recommend that you create an account.

Select the part in Instances by right-clicking on it.
A list will be displayed, press the Export button.
In the window that appears, there is a Format item. Select STEP.
Finally, press the blue Export button to start the download.

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Electronic Circuit Diagram

TBD

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Robot Assembly

TBD

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Features

TBD

Item	Details

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Bill of Materials (BOM)

TBD

Part	Model Number	Quantity	Where to Buy
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Milestone

[o] OSS
- Improved documentation
- Unified coding style

See the open issues for a full list of proposed features (and known issues).

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References

Kachaka API
Dynamixel SDK
ROS Humble
ROS2 Control
ROS2 Control Gazebo

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README_en.md

README_en.md

SOBIT LIGHT

Introduction

Getting Started

Prerequisites

Installation

Launch and Usage

Visualize on Rviz2

Software

Joint Controller

Movement Methods

Joints name

How to set new poses

Wheel Controller

Moving Methods

Hardware

How to download 3D parts

Electronic Circuit Diagram

Robot Assembly

Features

Bill of Materials (BOM)

Milestone

References

Files

README_en.md

Latest commit

History

README_en.md

File metadata and controls

SOBIT LIGHT

Introduction

Getting Started

Prerequisites

Installation

Launch and Usage

Visualize on Rviz2

Software

Joint Controller

Movement Methods

Joints name

How to set new poses

Wheel Controller

Moving Methods

Hardware

How to download 3D parts

Electronic Circuit Diagram

Robot Assembly

Features

Bill of Materials (BOM)

Milestone

References