multiple arms following plan created by twins-planner

• make rostopic names robot specific
• make node name different for each arm so both can be done connections can run simultaneously
• document process for connecting to both arms simultaneously
• make MoveIt package for controlling both arms simultaneously
• edit MoveIt package to hook into real controllers (with robot specific names)
• Create controller object for controlling both arms and extruders from python
• Create safe trajectories for both arms to execute simultaneously
• main loop controlling both arms simultaneously
• execute some safe trajectories to test main loop control
• read feedback from arms on arm positions etc
• Time arms to see time offset over both arms executing a single trajectory
• Time arms to see time offset over multiple trajectories
• Design workarounds for time offsets if excessive
• Execute long plan for both arms without extrusion
• Connect multiple Extruders simultaneously
• Extrude simultaneously

added enhancement label

changed milestone to %Two arms printing

changed time estimate to 1w

changed the description

changed title from multiple arms follwoing plan created by twins-planner to multiple arms following plan created by twins-planner

changed the description

assigned to @12618272

added Doing label

mentioned in commit 95621948

mentioned in commit universal_robots_ros_driver@c955313a

Launching two robots with different rostopic name prefixes. The node name is still the same so both cannot run simultaneously, it needs to be changed.

changed the description

marked the checklist item make rostopic names robot specific as completed

marked the checklist item make MoveIt package for controlling both arms simultaneously as completed

mentioned in commit universal_robots_ros_driver@d4604426

mentioned in commit 7576d8db

joint names colliding but changing them creates mismatch with urdf. In 2xbringup, the namesapce is different but there is other issues to iron out.

mentioned in commit universal_robots_ros_driver@201eabc5

mentioned in commit a2c95fb8

assigned to @13765728 and unassigned @12618272

mentioned in commit 7bd4597f

marked the checklist item make node name different for each arm so both can be done connections can run simultaneously as completed

marked the checklist item document process for connecting to both arms simultaneously as completed

Two MoveIt instances work, but could be an issue in python connecting to them. A Single MoveiT instance (with two arms in it) may have issues since the joint names don't match (MoveIt has robot1_xxx, robot2_xxx but the controllers are just xxx, no prefix).

To fix this, the joint names would need to be changed in controllers since moveit requires unique joint names for all its robots (which could have flow on effects).

mentioned in commit 3f0911aa

marked the checklist item edit MoveIt package to hook into real controllers (with robot specific names) as completed

mentioned in commit 2d746ccf

bug with ports used - it's probably still hardcoded somewhere. Simplest way is to make a copy of the robot driver with the hardcoded ports changed

mentioned in commit 086b4bdc

mentioned in commit adbad589

mentioned in commit 455dd51b

marked the checklist item Create controller object for controlling both arms and extruders from python as completed

changed the description

mentioned in commit 949d6385

mentioned in commit twins-planner@11a4147a

marked the checklist item Create safe trajectories for both arms to execute simultaneously as completed

mentioned in commit 2f159411

draft main loop may be able to execute test plan for two arms which has been generated. The main loop will need more logic to handle the situation as arms go out of time, also to measure how much out of time the arms get over time.

added 3d of time spent at 2021-01-27

mentioned in commit ec4b8b6e

marked the checklist item main loop controlling both arms simultaneously as completed

marked the checklist item execute some safe trajectories to test main loop control as completed

mentioned in commit a6eeb104

marked the checklist item read feedback from arms on arm positions etc as completed

marked the checklist item Design workarounds for time offsets if excessive as completed

marked the checklist item Time arms to see time offset over both arms executing a single trajectory as completed

Final part depends on twins-planner#57 (closed) and twins-planner#58 (closed)

changed the description

mentioned in commit e56bc51e

mentioned in commit 42fa6bb8

mentioned in commit c26561a1

marked the checklist item Time arms to see time offset over multiple trajectories as completed

mentioned in commit b06e7e02

mentioned in commit ef65260f

marked the checklist item Extrude simultaneously as completed

marked the checklist item Extrude simultaneously as incomplete

marked the checklist item Connect multiple Extruders simultaneously as completed

marked the checklist item Extrude simultaneously as completed

mentioned in commit twins-planner@9629d81e

mentioned in commit e68b3d3c

mentioned in commit twins-planner@6d4eb4cb

mentioned in commit fe331bfd

marked the checklist item Execute long plan for both arms without extrusion as completed

Remaining work is fixing up calibration stuff which will need to be updated anyway. Also, need to do a longer test with extrusion. But separate issues can be made for those if there are any issues. out4

closed