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Commit 7c12b561 authored by Lab Computer's avatar Lab Computer
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update launch files to connect to URs individually

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calibrations/ur10_big_extruder.yaml 0 → 100644
+ 44
− 0
View file @ 7c12b561
kinematics:
shoulder:
x: 0
y: 0
z: 0.1279633773215406
roll: -0
pitch: 0
yaw: -6.293537395064304e-05
upper_arm:
x: -4.032100684500639e-05
y: 0
z: 0
roll: 1.570795479939097
pitch: 0
yaw: -3.025597271493336e-05
forearm:
x: -0.6123679136750267
y: 0
z: 0
roll: 3.133680837349133
pitch: 3.140570891343476
yaw: -3.141545241341912
wrist_1:
x: -0.5711819043583151
y: 0.001160468789703822
z: 0.163325753716815
roll: 3.134487532472358
pitch: -3.140632609807427
yaw: 3.14149823222417
wrist_2:
x: 1.069725805287135e-05
y: -0.1156946597359832
z: 7.365176914449007e-05
roll: 1.570159722137749
pitch: 0
yaw: 6.83444208849733e-06
wrist_3:
x: -1.873433213643691e-05
y: 0.09226004407390781
z: -3.595155516812034e-05
roll: 1.570406650486921
pitch: 3.141592653589793
yaw: 3.141570613227544
hash: calib_181927381948858317
\ No newline at end of file
calibrations/ur10_small_extruder.yaml 0 → 100644
+ 44
− 0
View file @ 7c12b561
kinematics:
shoulder:
x: 0
y: 0
z: 0.1277377615581236
roll: -0
pitch: 0
yaw: -0.0001009061054409726
upper_arm:
x: 8.087550952193899e-05
y: 0
z: 0
roll: 1.570923960863897
pitch: 0
yaw: 5.097156812238782e-06
forearm:
x: -0.6122900709914697
y: 0
z: 0
roll: 3.133673321896737
pitch: 3.140228340009954
yaw: -3.141495569799454
wrist_1:
x: -0.5710740090380132
y: 0.001188908849082962
z: 0.1636567052448592
roll: 3.13432813037324
pitch: -3.140746095741456
yaw: 3.141554955372285
wrist_2:
x: 4.209860447140924e-05
y: -0.1156555147361468
z: 7.520489775047678e-05
roll: 1.570146077757291
pitch: 0
yaw: -3.409200883733332e-05
wrist_3:
x: -7.468428467779211e-05
y: 0.09223433185124101
z: 6.88733441282997e-05
roll: 1.571543047998865
pitch: 3.141592653589793
yaw: 3.141566651625736
hash: calib_16713004888636078341
\ No newline at end of file
extrudex @ 63170fb6
Compare 793ab810...63170fb6
Subproject commit 793ab810f90aa978a3a618bfcb2670db8b691c22
Subproject commit 63170fb6b5d7a8db04ef098bdde25e7545735365
catkin_ws/src/twins_utils/calibrations/ur10_big_extruder.yaml 0 → 100644
+ 44
− 0
View file @ 7c12b561
kinematics:
shoulder:
x: 0
y: 0
z: 0.1279633773215406
roll: -0
pitch: 0
yaw: -6.293537395064304e-05
upper_arm:
x: -4.032100684500639e-05
y: 0
z: 0
roll: 1.570795479939097
pitch: 0
yaw: -3.025597271493336e-05
forearm:
x: -0.6123679136750267
y: 0
z: 0
roll: 3.133680837349133
pitch: 3.140570891343476
yaw: -3.141545241341912
wrist_1:
x: -0.5711819043583151
y: 0.001160468789703822
z: 0.163325753716815
roll: 3.134487532472358
pitch: -3.140632609807427
yaw: 3.14149823222417
wrist_2:
x: 1.069725805287135e-05
y: -0.1156946597359832
z: 7.365176914449007e-05
roll: 1.570159722137749
pitch: 0
yaw: 6.83444208849733e-06
wrist_3:
x: -1.873433213643691e-05
y: 0.09226004407390781
z: -3.595155516812034e-05
roll: 1.570406650486921
pitch: 3.141592653589793
yaw: 3.141570613227544
hash: calib_181927381948858317
\ No newline at end of file
catkin_ws/src/twins_utils/calibrations/ur10_small_extruder.yaml 0 → 100644
+ 44
− 0
View file @ 7c12b561
kinematics:
shoulder:
x: 0
y: 0
z: 0.1277377615581236
roll: -0
pitch: 0
yaw: -0.0001009061054409726
upper_arm:
x: 8.087550952193899e-05
y: 0
z: 0
roll: 1.570923960863897
pitch: 0
yaw: 5.097156812238782e-06
forearm:
x: -0.6122900709914697
y: 0
z: 0
roll: 3.133673321896737
pitch: 3.140228340009954
yaw: -3.141495569799454
wrist_1:
x: -0.5710740090380132
y: 0.001188908849082962
z: 0.1636567052448592
roll: 3.13432813037324
pitch: -3.140746095741456
yaw: 3.141554955372285
wrist_2:
x: 4.209860447140924e-05
y: -0.1156555147361468
z: 7.520489775047678e-05
roll: 1.570146077757291
pitch: 0
yaw: -3.409200883733332e-05
wrist_3:
x: -7.468428467779211e-05
y: 0.09223433185124101
z: 6.88733441282997e-05
roll: 1.571543047998865
pitch: 3.141592653589793
yaw: 3.141566651625736
hash: calib_16713004888636078341
\ No newline at end of file
universal_robots_ros_driver @ 48320154
Compare 201eabc5...48320154
Subproject commit 201eabc5d45bd608a4787a9969cf2c1caa3ac490
Subproject commit 483201546193edd139a6701b6ecbd529693c65a7
launch/r1_bringup.launch
+ 4
− 4
View file @ 7c12b561
<?xml version="1.0"?>
<launch>
<arg name="kinematics_config" default="$(find twins_utils)/calibrations/r1_cal.yaml" doc="Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description."/>
<arg name="kinematics_config" default="$(find twins_utils)/calibrations/ur10_big_extruder.yaml" doc="Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description."/>
<arg name="robot_ip" default="192.168.1.101"/>
<arg name="extrude" default="True"/>
<arg name="extrude" default="False"/>
<!-- ROBOT DRIVER -->
<include file="$(find ur_robot_driver)/launch/ur5e_bringup.launch">
<include file="$(find ur_robot_driver)/launch/ur10_bringup.launch">
<arg name="robot_ip" value="$(arg robot_ip)"/>
<arg name="kinematics_config" value="$(arg kinematics_config)"/>
<arg name="reverse_port" value="50003"/>
......@@ -13,7 +13,7 @@
</include>
<!-- MOVEIT WRAPPER -->
<include file="$(find ur5_e_moveit_config)/launch/ur5_e_moveit_planning_execution.launch"/>
<include file="$(find ur10_moveit_config)/launch/ur10_moveit_planning_execution.launch"/>
<!-- EXTRUDER NODE-->
<node if="$(arg extrude)"
......
launch/r2_bringup.launch
+ 6
− 4
View file @ 7c12b561
<?xml version="1.0"?>
<launch>
<arg name="kinematics_config" default="$(find twins_utils)/calibrations/r2_cal.yaml" doc="Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description."/>
<arg name="robot_ip" default="192.168.1.103"/>
<arg name="extrude" default="True"/>
<arg name="kinematics_config" default="$(find twins_utils)/calibrations/ur10_small_extruder.yaml" doc="Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description."/>
<arg name="robot_ip" default="192.168.1.100"/>
<arg name="extrude" default="False"/>
<!-- ROBOT DRIVER -->
<include file="$(find ur_robot_driver)/launch/ur5e_bringup.launch">
<include file="$(find ur_robot_driver)/launch/ur10_bringup.launch">
<arg name="robot_ip" value="$(arg robot_ip)"/>
<arg name="kinematics_config" value="$(arg kinematics_config)"/>
<arg name="reverse_port" value="50001"/>
<arg name="script_sender_port" value="50002"/>
</include>
<!-- MOVEIT WRAPPER -->
......
src/Controller.py
+ 11
− 11
View file @ 7c12b561
......@@ -29,8 +29,8 @@ import moveit_msgs
from moveit_msgs.msg._RobotTrajectory import RobotTrajectory
## Our libraries
from extrudex.msg._ExtruderControl import ExtruderControl
from extrudex.srv._Hotend import Hotend
#from extrudex.msg._ExtruderControl import ExtruderControl
#from extrudex.srv._Hotend import Hotend
from utils import load_plan, JTraj2ROS
class Controller(object):
......@@ -101,15 +101,15 @@ class Controller(object):
self._update_motion_status)
# extruder related
self.extrusion_pub = rospy.Publisher(
'extrusion_cmd',
ExtruderControl,
queue_size=2)
self.extruderReady_sub = rospy.Subscriber(
'ready',
Bool,
self._extruderReady_cb,
queue_size=1)
#self.extrusion_pub = rospy.Publisher(
# 'extrusion_cmd',
# ExtruderControl,
# queue_size=2)
#self.extruderReady_sub = rospy.Subscriber(
# 'ready',
# Bool,
# self._extruderReady_cb,
# queue_size=1)
else:
# MoveIt related
self.robot = moveit_commander.RobotCommander(
......
src/KeyboardController.py
+ 11
− 12
View file @ 7c12b561
......@@ -15,6 +15,7 @@ from scipy.spatial.transform import Rotation
# Numpy (1.16.6)
import numpy as np
from math import pi
# ROS Libraries
import rospy
......@@ -37,14 +38,14 @@ def getTransformMat(quat, pos):
return np.linalg.inv(T)
# also used for fast-calibration-ik
_vert_or = [np.array([[-6.74517010e-04, 8.33315658e-04, -9.99999404e-01, -2.90597873e-05],
[ 8.33732192e-04, -9.99999285e-01, -8.33877944e-04, -4.81068309e-05],
[-9.99999404e-01, -8.34294187e-04, 6.73821778e-04, 2.74792069e-06],
[ 0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 1.00000000e+00]]),
np.array([[-6.74517010e-04, -8.33315658e-04, 9.99999404e-01, -2.90597873e-05], # 2nd arm
[ 8.33732192e-04, 9.99999285e-01, 8.33877944e-04, -4.81068309e-05],
[-9.99999404e-01, 8.34294187e-04, -6.73821778e-04, 2.74792069e-06],
[ 0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 1.00000000e+00]])]
#_vert_or = [np.array([[-6.74517010e-04, 8.33315658e-04, -9.99999404e-01, -2.90597873e-05],
# [ 8.33732192e-04, -9.99999285e-01, -8.33877944e-04, -4.81068309e-05],
# [-9.99999404e-01, -8.34294187e-04, 6.73821778e-04, 2.74792069e-06],
# [ 0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 1.00000000e+00]]),
# np.array([[-6.74517010e-04, -8.33315658e-04, 9.99999404e-01, -2.90597873e-05], # 2nd arm
# [ 8.33732192e-04, 9.99999285e-01, 8.33877944e-04, -4.81068309e-05],
# [-9.99999404e-01, 8.34294187e-04, -6.73821778e-04, 2.74792069e-06],
# [ 0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 1.00000000e+00]])]
class KeyboardController(Controller):
......@@ -55,7 +56,7 @@ class KeyboardController(Controller):
"""
def __init__(self,
homeConf_deg=np.array([0,-90,45,-45,-90,-45]),
homeConf= [pi/2, -3*pi/4, pi/2, pi/4, pi/4, pi],
waitForExtruder=True,
timeScale=1.0,
disableExtruder=False,
......@@ -71,9 +72,7 @@ class KeyboardController(Controller):
disable_extruder=disableExtruder,
robot=robot)
# 1x6
homeConf_rad = np.deg2rad(homeConf_deg)
self.homeConf_rad = homeConf_rad.tolist()
self.homeConf_rad = homeConf
def fk(self,conf):
......
src/utils/plan.py
+ 2
− 2
View file @ 7c12b561
import numpy as np
import pickle
from . import JTrajectory
import gcode2contour as gc
#import gcode2contour as gc
def _emptyTraj(joints, arm):
......@@ -82,7 +82,7 @@ def load_plan(model, contours=False):
if contours:
# Read gcode file
contours = gc.decode_gcode("plans/" + model + ".gcode", max_wp_dist=20)
#contours = gc.decode_gcode("plans/" + model + ".gcode", max_wp_dist=20)
return plan, contours
else:
return plan
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