ourobotics-ou / snp_blending

Scan 'N Plan Implementation for SwRI Blending Cell

SNP Implementation for Robotic Blending Milesone 5

This demo uses a Motoman MH180 with an Intel RealSense camera to reconstruct the surface of an arbitrary part and generate motion plans for grinding 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_blending 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_blending start.launch.xml sim_robot:=false sim_vision:=false