Dual arm tutorial for ROS2 #3

ShahhhVihaan · 2024-07-03T22:41:36Z

This draft PR addresses issue #1 regarding a dual arm example setup. It introduces three packages that perform the following functions:

my_dual_robot_cell_description : Creates a custom workcell with two UR3 arms named alice and bob.
my_dual_robot_cell_control: Contains launchfiles to start the communication and control of the robots. Uses one control manager handling controllers for both the arms.
my_dual_robot_moveit_config: Sets up the moveit configuration with the help of MoveItSetupAssistant and MoveItConfigsBuilder.

This has been tested successfully on two UR3 arms. Here's the ROS graph for the same:

I need to clean up the packages and write tutorial documentation before it is ready to merge.

- Add ros2 control tags/parameters for each robot arm - Some parameters are specific to each arm and some common to both - Ports and IP different for each arm - RTDE scripts, mock hardware, headless mode common to the arms

- Instantiates one controller manager for both arms and passes the controller configs and update rate - Receives the robot_description param from the robot_description_topic (robot_state_publisher) - Does not yet implement io_and_status_controller and forward_velocity_controller - Has functionality to spawn and stop controllers for both arms - Only works in simulation and not with real hardware - Limited number of launch parameters as of now

…Universal_Robots_ROS2_Tutorials into dual_arm_tutorials

eladpar · 2024-07-04T14:31:55Z

First, Thank you for your contribution.
can you please share your setup? ( what ubuntu, ros2 , UR_driver & Description commits etc...)
iv'e been trying to deploy this on humble with a few adaptations with out much luck
(ur.ros2_control take from ur_description instead of ur_driver, change mock to fake, and take car of kinematics paramters_file)

ShahhhVihaan · 2024-07-05T03:24:16Z

@eladpar I am working on a local Ubuntu 22.04 system, using ROS2 Rolling. I have installed the Universal Robots (UR) driver via source installation following the instructions provided here.

ShahhhVihaan · 2024-07-05T03:40:45Z

@eladpar, I recommend ensuring you pass all the parameters for ros2_control for both arms in your description. In the Humble version of ur_description, the ur_macro.xacro contains the ros2_control tags, unlike in Rolling. Once you have configured these parameters, you can refer to the my_dual_robot_cell/my_dual_robot_cell_control/config/combined_controllers.yaml file, which defines controllers for both arms. In your driver launch file, try spawning the controllers using only the ros2_control_node (comment out everything else). Once that works, you can continue testing and gradually add all the other nodes and functions.

ShahhhVihaan · 2024-07-05T03:49:20Z

@fmauch Once this PR has been merged do you think we can make a branch for humble? I'd be willing to make the tutorials.

eladpar · 2024-07-09T10:38:09Z

Tried today operating the 2 robots with ros2 rolling ubuntu 24.
seems like there might be an issue maybe because it e-series..

I ran

ros2 launch my_dual_robot_cell_control  start_robots.launch.py  alice_ur_type:=ur16e bob_ur_type:=ur16e alice_robot_ip:=192.168.1.102 bob_robot_ip:=192.168.1.103

but seems like when I try to run the program on the UR pendent It gets stuck at starting program, and this is the messege I get on pc:

I ran with headless mode and one of the robot starts to move suddenly ( and the moveit isn't really executing trajectories..)

ros2 launch my_dual_robot_cell_control  start_robots.launch.py  alice_ur_type:=ur16e bob_ur_type:=ur16e alice_robot_ip:=192.168.1.102 bob_robot_ip:=192.168.1.103 headless_mode:=true

ShahhhVihaan · 2024-07-10T14:47:51Z

@eladpar Do the external control custom ports match the script sender ports in here?

On a side note for my curiosity: did the controllers launch correctly? You can look at my rqt_graph above to compare.

ShahhhVihaan · 2024-08-08T22:59:00Z

@fmauch Can you suggest how I can write the docs (reST documentation). Do you have a Sphinx workflow for the same?

fmauch

Sorry for not coming back on this earlier. I appreciate your efforts very much @ShahhhVihaan. I'll review this bit by bit in order to make it easier to find time slots for reviewing.

So far, I have been looking a the description which looks very good, overall. Please see my comments on suggestions for improvements.

fmauch · 2024-09-18T12:04:20Z

my_dual_robot_cell/my_dual_robot_cell_description/meshes/171005_Motek_Monitor_L.dae

I think it might be good, to re-use the files from the custom_workcell. Simply add a dependency on my_custom_workcell and reference the files from there.

fmauch · 2024-09-18T12:05:18Z

my_dual_robot_cell/my_dual_robot_cell_description/package.xml

+  <!-- The UR background wall (meshes/ur_background.jpg)constitutes “Graphical Documentation” the use of which is subject to and governed by our “Terms and Conditions for use of Graphical Documentation”, which can be found here: https://www.universal-robots.com/legal/terms-and-conditions/terms_and_conditions_for_use_of_graphical_documentation.txt -->
+  <license file="UR_LICENSE.txt">Universal Robots A/S’ Terms and Conditions for Use of Graphical Documentation</license>
+
+  <author email="[email protected]">Felix Durchdewald</author>


Maybe you would like to add yourself there, instead of Felix Durchdewald ;-)

fmauch · 2024-09-18T12:07:22Z

my_dual_robot_cell/my_dual_robot_cell_description/urdf/my_dual_robot_cell_macro.xacro

+    <joint name="base_to_alice_robot_mount" type="fixed">
+      <parent link="table"/>
+      <child link="alice_robot_mount"/>
+      <origin xyz="0.3 0.85 0" rpy="0 0 ${pi}" />


Maybe the placement isn't ideal since it is right behind the computer screen on the table.

fmauch · 2024-09-18T12:11:45Z

@fmauch Can you suggest how I can write the docs (reST documentation). Do you have a Sphinx workflow for the same?

Basically, I think you can do things similar to the my_robot_cell package. I'll try to fix building the doc in this package, also for CI so you can use that.

Edit: See #7

fmauch

Second round of reviewing, this time the control package.

fmauch · 2024-10-27T21:05:49Z

my_dual_robot_cell/my_dual_robot_cell_control/config/combined_controllers.yaml

+    alice_joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
+
+    bob_joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster


Only one joint_state_broadcaster should be sufficient.

Suggested change

alice_joint_state_broadcaster:

type: joint_state_broadcaster/JointStateBroadcaster

bob_joint_state_broadcaster:

type: joint_state_broadcaster/JointStateBroadcaster

joint_state_broadcaster:

type: joint_state_broadcaster/JointStateBroadcaster

fmauch · 2024-10-27T21:07:59Z

my_dual_robot_cell/my_dual_robot_cell_control/config/update_rate.yaml

@@ -0,0 +1,3 @@
+controller_manager:
+  ros__parameters:
+    update_rate: 125  # Hz


Could we please default to an e-series robot?

Suggested change

update_rate: 125 # Hz

update_rate: 500 # Hz

fmauch · 2024-10-27T21:08:21Z

my_dual_robot_cell/my_dual_robot_cell_control/launch/rsp.launch.py

+                "ur20",
+                "ur30",
+            ],
+            default_value="ur3",


Suggested change

default_value="ur3",

default_value="ur3e",

fmauch · 2024-10-27T21:08:32Z

my_dual_robot_cell/my_dual_robot_cell_control/launch/rsp.launch.py

+                "ur20",
+                "ur30",
+            ],
+            default_value="ur3",


Suggested change

default_value="ur3",

default_value="ur3e",

fmauch · 2024-10-27T21:08:49Z

my_dual_robot_cell/my_dual_robot_cell_control/launch/rsp.launch.py

+        DeclareLaunchArgument(
+            "alice_robot_ip",
+            default_value="192.168.0.101",
+            description="IP address by which the robot can be reached.",


Suggested change

description="IP address by which the robot can be reached.",

description="IP address by which alice can be reached.",

fmauch · 2024-10-27T21:10:55Z

my_dual_robot_cell/my_dual_robot_cell_control/launch/rsp.launch.py

+        DeclareLaunchArgument(
+            "bob_mock_sensor_commands",
+            default_value="false",
+            description="Enable mock command interfaces for sensors used for simple simulations. "


Suggested change

description="Enable mock command interfaces for sensors used for simple simulations. "

description="Enable mock command interfaces for bob's sensors used for simple simulations. "

fmauch · 2024-10-27T21:13:17Z

my_dual_robot_cell/my_dual_robot_cell_control/launch/start_robots.launch.py

+        condition=UnlessCondition(bob_use_mock_hardware),
+    )
+
+    alice_controller_stopper_node = Node(


This should probably contain all controllers from the other robot, well?

fmauch · 2024-10-27T21:13:40Z

my_dual_robot_cell/my_dual_robot_cell_control/launch/start_robots.launch.py

+        "alice_joint_state_broadcaster",
+        "bob_joint_state_broadcaster",


Suggested change

"alice_joint_state_broadcaster",

"bob_joint_state_broadcaster",

"joint_state_broadcaster",

fmauch · 2024-10-27T21:14:34Z

my_dual_robot_cell/my_dual_robot_cell_control/launch/start_robots.launch.py

+    return nodes_to_start
+
+
+def generate_launch_description():


Please see rsp.launch.py for comments on launch arguments.

fmauch · 2024-10-27T21:15:01Z

my_dual_robot_cell/my_dual_robot_cell_control/package.xml

+  <name>my_dual_robot_cell_control</name>
+  <version>1.0.0</version>
+  <description>ros2_control setup</description>
+  <maintainer email="[email protected]">Felix Durchdewald</maintainer>


Please add yourself as an author and use me as a maintainer.

ShahhhVihaan and others added 16 commits June 24, 2024 12:49

Extend single arm description to dual arm

f3cd1e4

Remove ur_type from tf_prefix

78fc1d8

Generate dual_robot_cell moveit config using moveit setup assistant

8cd6f11

Add acceleration limits

1976b71

Add IK plugins for the two manipulators

6de9d5d

Remove unwanted launch files + configuration files

6f86075

Add io/status and forward velocity controllers

24bf6e1

Calibrate arms

458bcca

Merge branch 'UniversalRobots:main' into dual_arm_tutorials

9b4558f

Update arguments for alice and bob

998c2c1

Merge branch 'dual_arm_tutorials' of https://github.com/ShahhhVihaan/…

a0feb01

…Universal_Robots_ROS2_Tutorials into dual_arm_tutorials

Fix ur_type and mock_sensor_commands arguments

1695e55

Update rviz config for description launch

55cbee3

Use rviz config file for moveit

b1a637a

fmauch linked an issue Jul 4, 2024 that may be closed by this pull request

Write multi (dual) arm tutorial for ROS 2 #1

Open

ShahhhVihaan mentioned this pull request Aug 14, 2024

Dangerous Robot Behavior When Resuming External Control After Manual Jogging UniversalRobots/Universal_Robots_ROS2_Driver#1084

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fmauch reviewed Sep 18, 2024

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fmauch self-requested a review September 25, 2024 19:58

fmauch reviewed Oct 27, 2024

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Dual arm tutorial for ROS2 #3

Dual arm tutorial for ROS2 #3

ShahhhVihaan commented Jul 3, 2024

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	description="IP address by which the robot can be reached.",
	description="IP address by which alice can be reached.",

	description="Enable mock command interfaces for sensors used for simple simulations. "
	description="Enable mock command interfaces for bob's sensors used for simple simulations. "

		"alice_joint_state_broadcaster",
		"bob_joint_state_broadcaster",

	"alice_joint_state_broadcaster",
	"bob_joint_state_broadcaster",
	"joint_state_broadcaster",

Dual arm tutorial for ROS2 #3

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eladpar commented Jul 4, 2024 •

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ShahhhVihaan commented Jul 10, 2024 •

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fmauch commented Sep 18, 2024 •

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