Work space for Franka Emika FR3 robot ROS2 integration
gear_place
- Includes all code for moving the robot, identifying the gear with the realsense_camera, and the supervisors to control the robotgear_place_description
- Includes all meshes, robot visuals, and urdf files for generating the robot description and visualizing the robot in rvizgear_place_interfaces
- Includes all msg and srv for the ROS2 callbacks
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Follow the instructions to build libfranka from source
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Install ROS2 Realsense
sudo apt install ros-$ROS_DISTRO-librealsense2*
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Clone the workspace
git clone https://github.com/jfernandez37/fr3_ws.git
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Go into the workspace
cd fr3_ws
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Clone the conveyor belt package
git clone https://github.com/usnistgov/aprs-ros-conveyor.git src/aprs-ros-conveyor
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Clone the humble port of franka_ros2
git clone https://github.com/mcbed/franka_ros2.git -b humble src/franka_ros2
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Install dependencies
rosdep install --from-paths src -y --ignore-src -r --rosdistro $ROS_DISTRO
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To start the camera with all options needed for getting the depth of the gear, run
ros2 launch realsense2_camera rs_launch.py pointcloud.enable:=true pointcloud.ordered_pc:=true pointcloud.stream_filter:=0 depth_module.profile:='640x480x30'
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To test the gear detection functions, run this command.
thresh_value
can be set to different values for different heightsros2 run gear_place find_object_node.py --ros-args -p thresh_value:=160
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To launch everything, run
ros2 launch gear_place gear.launch.py rviz:=True