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Commit 864a35e4 authored by Montaño Sarria, Andres Felipe's avatar Montaño Sarria, Andres Felipe
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Melodic workin 31/01/22

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machine https://artifact.tecnalia.com/artifactory/tecnalia-robotics-debian
login andres.montano@tecnalia.com
password AKCp8jQcqPn8BQrgnqSShfsqvkS4vMbJL5WNYduVAcxaH7kbpVCyQsLnQgEhr4UeQNZoSgwwk
......@@ -4,7 +4,4 @@
"path": "."
}
],
"settings": {
"ros.distro": "noetic"
}
}
\ No newline at end of file
......@@ -51,6 +51,11 @@ RUN sh -c "echo \
'deb https://${USER_API_KEY_ARTIFACTS_TECNALIA}@artifact.tecnalia.com/artifactory/tecnalia-robotics-debian xenial main' \
>> /etc/apt/sources.list.d/tecnalia.list"
# RUN sh -c "echo \
# 'deb https://artifact.tecnalia.com/artifactory/tecnalia-robotics-debian xenial main' \
# >> /etc/apt/sources.list.d/tecnalia.list"
# COPY auth.conf /etc/apt/
# Import the key in order to be able to use the packages from the repository
RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys 7E72C5B4111A50084C63C9489E7A9B1D990CF897
......@@ -121,7 +126,12 @@ RUN apt-get install -y \
RUN apt-get install -y \
ros-melodic-realsense2-camera \
ros-melodic-eigen-conversions
ros-melodic-eigen-conversions \
ros-melodic-abb-driver \
libqd-dev \
ros-melodic-swri-profiler \
ros-melodic-force-torque-sensor-controller \
ros-melodic-effort-controllers
RUN apt-get install -y \
libdouble-conversion-dev
......@@ -145,13 +155,17 @@ RUN apt-get install -y \
python-pip \
graphviz \
xdot \
ros-melodic-image-view
ros-melodic-image-view \
libcanberra-gtk-module \
libcanberra-gtk3-module \
wget \
terminator
# set the zsh theme
ENV ZSH_THEME agnoster
#ENV ZSH_THEME agnoster
# run the installation script
RUN wget https://github.com/robbyrussell/oh-my-zsh/raw/master/tools/install.sh -O - | zsh || true
#RUN wget https://github.com/robbyrussell/oh-my-zsh/raw/master/tools/install.sh -O - | zsh || true
# Update final image
RUN apt-get update && apt-get -y upgrade && apt-get -y autoremove
......
machine https://artifact.tecnalia.com/artifactory/tecnalia-robotics-debian
login andres.montano@tecnalia.com
password AKCp8jQcqPn8BQrgnqSShfsqvkS4vMbJL5WNYduVAcxaH7kbpVCyQsLnQgEhr4UeQNZoSgwwk
-----BEGIN OPENSSH PRIVATE KEY-----
b3BlbnNzaC1rZXktdjEAAAAABG5vbmUAAAAEbm9uZQAAAAAAAAABAAABFwAAAAdzc2gtcn
NhAAAAAwEAAQAAAQEAwZWlebIhINUGIgcjBg38QMfjMOue8odSi8t+6Z+K1G2NCVhvboQb
doEzyywA68CfxbQhLvx+trHMHXBJsfl/q92CtgLrrMqC766cHQtpJtK4jxb4i8mW6T+T7D
ezqIKyCq5pbEC2q0fE3pYLbKrF4fLi8cB5j2Qcvo9SbAGTjx9zbCNdNhsTxvFMZXzKcZfv
/qnw0wdYexFwWU4GGqEs3XR9OesZW1jtT8Mydc8j2gJC5UAxr3TlxzbEr1u+3jRqBmodsn
dqrpnkjTCUEPHPN1qzus1gqxHwBCdrGzEnJe5iOn3MxKRNpYXHDnf5g5TIkftwsYIsqKmL
JrO4MMcapQAAA8C839mMvN/ZjAAAAAdzc2gtcnNhAAABAQDBlaV5siEg1QYiByMGDfxAx+
Mw657yh1KLy37pn4rUbY0JWG9uhBt2gTPLLADrwJ/FtCEu/H62scwdcEmx+X+r3YK2Auus
yoLvrpwdC2km0riPFviLyZbpP5PsN7OogrIKrmlsQLarR8TelgtsqsXh8uLxwHmPZBy+j1
JsAZOPH3NsI102GxPG8UxlfMpxl+/+qfDTB1h7EXBZTgYaoSzddH056xlbWO1PwzJ1zyPa
AkLlQDGvdOXHNsSvW77eNGoGah2yd2qumeSNMJQQ8c83WrO6zWCrEfAEJ2sbMScl7mI6fc
zEpE2lhccOd/mDlMiR+3CxgiyoqYsms7gwxxqlAAAAAwEAAQAAAQEAuoBUyvjdR8dTwEbF
7Fhe9X5eGEx4dsn+seXcoHFvjBb7MMy9lmi6GKKDZrM/M+IBS7St35ms7pA+yQHcThXEda
zT+Ey6B1+XZBkCGE1dAeUzn8+OpwYRWShCd+p2MNuxce70bDGwizV6qsM9wHSKbpPVJvm7
Y3Uc6E4mJx4hrlj+kYZBSA7PwzjjBq1UAVjTJcTnoZkvB/OT2iC6h2Nhi58AZ0WY2G1am5
PBFl5fQKA5rTPlarCpKllKr+oJ/z+VsRdKZTFwWFG+Cll2lxCro6mLEMWJT1evqkot6tqm
/D7a3KtDvDKibd1YuI788k9AVFael5hqvIjKHa/H13g/hQAAAIB1Ws5ZjKA4uofcWCZ7X5
Ppesp58Ie8UqiTGqgJhKqmZbZDswqCNYaak1EAfX6CQDitokqgZoMmH5x/DkEXBA172az8
OmeqYDcTVdPztaIfKFxwiV+iiMBE3jXjuuk+OtIxxU6YSw7xGyRnv+AHvjAq2+Dttv3NNw
kNz7cDxVv8HAAAAIEA4txAIsk+RI6+h7GAbG3hlkA787h3w4JcS7rzj0vbjm6WU1vKeS1m
QdZsqxVnCLKNWTclqGppi714B1JNJarEDnPsXpp7ix9Y2GhvVhQAYzzd3UlrPN2lLD9nHG
vUSqbIV7kQvKs4A9X1uQEF17Mk4y2JUOhnd3A3rAR8W/lq/rMAAACBANpzM9EyQwVv0OHs
AYvS9xZmRXx3mOSFawwIckL5UhrpZN0T2Ju+Y+zh16vpXxYT7ZU/GZru2CjbO8ghrN0sms
jjXxFauwGnvkIrhyguOZoeK8SjW3UnQeVeYfUND51gO7uAKAx/Oy1XgBoYTAaBcQp5DRwG
sFTbNVjFrPr/1y1HAAAACFVidW50dTIwAQI=
-----END OPENSSH PRIVATE KEY-----
......@@ -107,7 +107,13 @@ setopt no_share_history
# alias zshconfig="mate ~/.zshrc"
# alias ohmyzsh="mate ~/.oh-my-zsh"
export ROS_DISTRO="noetic"
# Create a cache folder if it isn't exists
if [ ! -d "$HOME/.cache/zsh" ]; then
mkdir -p $HOME/.cache/zsh
fi
# Define a custom file for compdump
export ZSH_COMPDUMP="$HOME/.cache/zsh/zcompdump-$HOST-$ZSH_VERSION"
export EDITOR="code -r"
......
......@@ -20,16 +20,12 @@ function dsr() {
docker stop $1;docker rm $1
}
function runscan() {
rocker --home --user --nvidia --x11 --ssh --git --name scannplan scan_and_plan:latest $1
}
function rundoc() {
rocker --home --user --nvidia --x11 --ssh --git --volume /dev/video0:/dev/video0 --privileged --name melodic devenv:melodic $1
rocker --home --user --nvidia --x11 --ssh --git --volume /dev/video0:/dev/video0 --privileged --name melodic --network host devenv:melodic $1
}
function runbezier() {
rocker --home --user --nvidia --x11 --ssh --git --volume /dev/video0:/dev/video0 --privileged --name bezier devenv:bezier $1
function runmelodic() {
rocker --home --user --nvidia --x11 --ssh --git --name melodic devenv:melodic $1
}
function runnoetic() {
......@@ -40,7 +36,7 @@ function runkinetic() {
rocker --home --user --nvidia --x11 --ssh --git --name kinetic devenv:kinetic $1
}
function drma {
function drma() {
docker rm $(docker ps -a -f status=exited -q)
}
......
File moved
# ManuWind - Scan and Plan DEMO
**Note** This project works on Kinetic.
1. Download the [godel_fanuc_config package](https://git.code.tecnalia.com/tecnalia_robotics/rosin/godel_fanuc_config/-/tree/Jon-O-laser-integration):
````
mkdir -p ~/ros/kinetic/scannplan_ws/src
cd ~/ros/kinetic/scannplan_ws/src
git clone git@git.code.tecnalia.com:tecnalia_robotics/rosin/godel_fanuc_config.git
````
2. Checkout the Jon-O-laser-integration branch.
````
cd godel_fanuc_config
git checkout Jon-O-laser-integration
````
3. Install the additional ros packages using .rosinstall:
````
cd ~/ros/kinetic/scannplan_ws/src
wstool init
wstool merge godel_fanuc_config/.rosinstall
wstool update
rosdep install -iy --from-paths .
catkin build
````
**Note** The package quelltech_laser_scanner_driver requires an Internet connection during the building process.
**Note** Zivid camera requires [SDK 1.8.1](https://www.zivid.com/downloads/revisions/1.8.1):
- [zivid 1.8.1+6967bc1b-1](https://www.zivid.com/hubfs/softwarefiles/releases/1.8.1+6967bc1b-1/u16/zivid_1.8.1+6967bc1b-1_amd64.deb)
- [zivid-studio 1.8.1+6967bc1b-1](https://www.zivid.com/hubfs/softwarefiles/releases/1.8.1+6967bc1b-1/u16/zivid-studio_1.8.1+6967bc1b-1_amd64.deb)
- [zivid-tools 1.8.1+6967bc1b-1](https://www.zivid.com/hubfs/softwarefiles/releases/1.8.1+6967bc1b-1/u16/zivid-tools_1.8.1+6967bc1b-1_amd64.deb)
- [zivid-telicam-driver 3.0.1.1-1](https://www.zivid.com/hubfs/softwarefiles/releases/1.8.1+6967bc1b-1/u16/zivid-telicam-driver_3.0.1.1-1_amd64.deb)
- ros-kinetic-zivid-camera 1.0.0-0xenial
## Docker image
Command to build the docker image to work on a host with Ubuntu 20.04:
````
docker build -t scan_and_plan --build-arg USER_API_KEY_ARTIFACTS_TECNALIA="$(cat ~/.ssh/user_api_key_artifacts_tecnalia)" -f ScanNPlan.Dockerfile .
````
<!-- Testing ddeploy
Using [ddeploy](https://git.code.tecnalia.com/tecnalia_robotics/flexbotics/flexbotics_utils/ddeploy)
ddeploy --name scan_and_plan_nvidia --distro kinetic -b tecnalia-robotics-docker.artifact.tecnalia.com/flexbotics-base-nvidia-devel:kinetic -s . --keep-source
Generates: clinfo error
ddeploy --name scan_and_plan_nvidia_cuda --distro kinetic -b nvidia/cuda:11.3.0-base-ubuntu16.04 -s . --keep-sources
Generate: Missing sources etc...
-->
Command to launch the docker image using [rocker](https://github.com/osrf/rocker)
````
rocker --privileged --devices /dev/bus/usb --nvidia --x11 --home --git --ssh scannplan
````
<!-- If --user flag is passed as argument when the container is launched with rocker then sudo privileged is required to access to the Zivid camera. -->
Commands to launch the demo:
````
source /opt/ros/kinetic/setup.bash
source ~/ros/kinetic/scannplan_ws/devel/setup.bash
roslaunch godel_cr7ial_workspace_support cr7ial_blending.launch sim_laser:=false sim_sensor:=false use_sim:=false
````
\ No newline at end of file
ROS 2
Create package
ros2 pkg create --build-type ament_python cartographer_slam --dependencies rclpy
rosbridge
source ~/catkin_ws/devel/setup.bash
roslaunch load_params load_params.launch
source /opt/ros/noetic/setup.bash
source /opt/ros/foxy/setup.bash
ros2 run ros1_bridge parameter_bridge
Gazebo simulator
source ~/simulation_ws/devel/setup.bash
roslaunch rb1_base_gazebo ros2_workshop_rb1.launch
Program
source ~/ros2_ws/instal/setup.bash
ros2 launch exercise_robot exercise_robot.launch.py
Service
ros2 service call /launch_robot std_srvs/srv/Empty {}\
Mapping
Localization
Path Planning
Launching path planning in ROS Nav2
To launch path planning you need to launch several nodes. On top of that, you need to have some other nodes required for path planning:
REQUIREMENTS
Prior to launching the path planning system, you need to have running the following nodes:
You need to have the nav2_map_server node running
You need to have the nav2_amcl node running
You need to have the nav2_lifecycle_manager node running
TO LAUNCH PATH PLANNING
You need to launch 4 more nodes:
The planner
The controller
The manager of recovery behaviors
The behavior tree navigator
MoveIT2
ros2 launch my_moveit2_config my_planning_execution.launch.py launch_rviz:=true
Action bridge
source /home/simulations/ros2_sims_ws/install/setup.bash
source install/setup.bash
ros2 run ros1_bridge action_bridge ros1 control_msgs FollowJointTrajectory /arm_controller/follow_joint_trajectory
Parameter Bridge
source catkin_ws/devel/setup.bash
roslaunch load_params load_params.launch
source /home/simulations/ros2_sims_ws/install/setup.bash
ros2 run ros1_bridge parameter_bridge __name:=parameter_bridge
Move group test
source ~/ros2_ws/install/setup.bash
ros2 launch moveit2_scripts test_trajectory.launch.py
- Translation: [-0.234, -0.171, 0.507]
- Rotation: in Quaternion [-0.706, 0.044, 0.707, 0.000]
The process for launching the ros1_bridge with the UR is a little different. Follow these steps:
Execute in Shell #1
roslaunch load_params load_params.launch
source ~/catkin_ws/devel/setup.bash
roslaunch load_params load_params.launch
Execute in Shell #2
source /opt/ros/noetic/setup.bash
source /home/simulations/ros2_sims_ws/install/setup.bash
ros2 launch start_bridge start_bridge.launch.py
Execute in Shell #3
source ~/simulation_ws/devel/setup.bash
roslaunch rb1_base_gazebo ros2_workshop_ur3.launch
source ~/catkin_ws/devel/setup.bash
roslaunch load_params load_params.launch
source /opt/ros/noetic/setup.bash
source /home/simulations/ros2_sims_ws/install/setup.bash
ros2 launch start_bridge start_bridge.launch.py
source /opt/ros/noetic/setup.bash
source /opt/ros/foxy/setup.bash
ros2 run ros1_bridge parameter_bridge __name:=parameter_bridge
\ No newline at end of file
1. Clone from git@git.code.tecnalia.com:tecnalia_robotics/rosin/godel_fanuc_config.git
2. Switch to branch Jon-O-laser-integration
3. Build ws with catkin build --continue-on-failure
Failures:
godel_surface_detection
descartes_moveit
irb2400_ikfast_manipulator_plugin
abb_irb1200_5_90_ikfast_manipulator_plugin
4. Change Affine3 by Isometry3 on:
descartes
cr7ial_descartes_ikfast_adapter
godel_process_planning
godel_robots
5. Add eigen_conversions as dependency in package godel_surface_detection (CMakeList.txt and package.xml)
6. Change boost::shared_ptr and boost::const_pointer_cast by std equivalents on:
irb2400_ikfast_manipulator_plugin
abb_irb1200_5_90_ikfast_manipulator_plugin
7. Deal with abb_irb2400_descartes issues
8. Install zivid-ros v1.1.0
# Sherlock Integration DEMO
**Note** This project works on Melodic.
1. Download the [sherlock_app package](https://git.code.tecnalia.com/tecnalia_robotics/sherlock/sherlock_app):
````
mkdir -p ~/ros/melodic/sherlock_app_ws/src
cd ~/ros/melodic/sherlock_app_ws/src
git clone git@git.code.tecnalia.com:tecnalia_robotics/sherlock/sherlock_app.git
````
3. Install additional ros packages using .rosinstall:
````
cd ~/ros/melodic/sherlock_app_ws/src
wstool init
wstool merge godel_fanuc_config/.rosinstall
wstool update
rosdep install -iy --from-paths .
catkin build
````
30/08/2021 Tratando de hacer wstool update and rosdep install
**Error:** the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
ros_vision_pipelines: Cannot locate rosdep definition for [vision_data_all_purpose]
Solved adding missing dependencies to .rosinstall:
- git:
local-name: vision_libraries
uri: git@git.code.tecnalia.com:tecnalia_robotics/flexbotics/vision/vision_libraries.git
version: melodic-devel
- git:
local-name: vision_object_detection_plugins
uri: git@git.code.tecnalia.com:tecnalia_robotics/flexbotics/vision/vision_object_detection_plugins.git
version: melodic-devel
- git:
local-name: vision_libraries_additionals_tools
uri: git@git.code.tecnalia.com:tecnalia_robotics/flexbotics/vision/vision_libraries_additionals_tools.git
version: melodic-devel
- git:
local-name: gl_depth_sim
uri: https://github.com/Jmeyer1292/gl_depth_sim.git
version: master
### Branches on local
- ira_laser_tools -- master
- flexbotics_dynamic_docking -- front_camera_tracking
- dual_arm_guidance_information_manager -- 1-update-to-new-ui-aspect -- fixed
RuntimeError: Multiple packages found with the same name "robotnik_sensors":
- robotnik_sensors
- tecnalia_rbrobout_simulation/robotnik/robotnik_sensors
Removed from .rosinstall
- git:
local-name: robotnik_sensors
version: kinetic-devel
uri: https://github.com/RobotnikAutomation/robotnik_sensors.git
Which one is the good version?? -- On ROBOUTON * 4cd2513 (HEAD -> kinetic-devel, origin/kinetic-devel, origin/HEAD) Apply clang format
ADD
- git:
local-name: flexbotics_action_base_classes
version: kinetic-devel
uri: git@git.code.tecnalia.com:tecnalia_robotics/flexbotics/flexbotics_skill_library/flexbotics_action_base_classes.git
- git:
local-name: flexbotics_execution_manager
uri: git@git.code.tecnalia.com:tecnalia_robotics/flexbotics_execution_manager.git
version: kinetic-devel
- git:
local-name: gl_depth_sim
uri: https://github.com/Jmeyer1292/gl_depth_sim.git
version: master
- git:
local-name: vision_libraries_additionals_tools
uri: 'git@git.code.tecnalia.com:tecnalia_robotics/flexbotics/vision/vision_libraries_additionals_tools.git'
version: 'melodic-devel'
31/09/2021 Trabajando con el archivo con Notas despues de reunión con Aitor
Remover paquete:
1. wsg50-ros-pkg-tecnalia
Resultado:
Es dependencia de flexbotics_electric_gripper_manager que hace parte del package flexbotics_manipulator_manager
Es necesario remover el paquete:
2. flexbotics_robots_rbrobout
Remover paquetes:
3. robotnik_sensors
4. tecnalia_rbrobout_simulation
Resultado:
flexbotics_robots_rbrobout_launch: Cannot locate rosdep definition for [rbrobout_gazebo]
flexbotics_robots_rbrobout_moveit_config: Cannot locate rosdep definition for [rbrobout_description]
5. flexbotic_manipulator_manager -- Estaba marcado como cosas de PAUL
Remover paquete:
6. iiwa_ros_io_server
Remover paquete:
7. sherlock_guidance_demo
Remover paquete:
8. robouton_tecnalia
Remover paquete:
9. ira_laser_tools
Remover paquetes:
10. remodel_vs_test
11. rcomponent
Rmover paquetes:
12. dummy_application
Remover paquete:
13. flexbotics_scene_manager
Resultado:
Es dependencia de
14. flexbotics_manipulation_planner
Remover paquete:
15. flexbotics_moveit_interface
-- El WS compila pero al hacer un launch se producen un error por la dependencia del paquete
flexbotics_robots_rbrobout
Siendo necesario incluir estos tres paquetes:
- git:
local-name: flexbotics_robots_rbrobout
uri : 'git@git.code.tecnalia.com:tecnalia_robotics/flexbotics/flexbotics_robots/flexbotics_robots_rbrobout.git'
version: melodic-devel
- git:
local-name: tecnalia_rbrobout_simulation
version: kinetic-devel
uri: git@git.code.tecnalia.com:tecnalia_robotics/flexbotics/flexbotics_robots/tecnalia_rbrobout_simulation
- git:
local-name: rcomponent
version: master
uri: https://github.com/RobotnikAutomation/rcomponent.git
-- Launch falla por dependencia del paquete:
Resource not found: robouton_tecnalia
Siendo necesario incluir:
- git:
local-name: robouton_tecnalia
version: kinetic-devel
uri: git@git.code.tecnalia.com:tecnalia_robotics/robouton_tecnalia.git
Separados los workspaces robouton_ws y sherlock_app_dev
sherlock_app_dev debe ser una extensión explicita del workspace core (robouton_ws)
\ No newline at end of file
# flange_H^tool transformation
fHt_pose_x = Column(Float,default=0.0)
fHt_pose_y = Column(Float,default=0.0)
fHt_pose_z = Column(Float,default=0.0)
fHt_roll = Column(Float,default=0.0)
fHt_pitch = Column(Float,default=0.0)
fHt_yaw = Column(Float,default=0.0)
# flange_H^cam transformation
# tf_fHc_pose_x = Column(Float,default=0.0)
# tf_fHc_pose_y = Column(Float,default=0.0)
# tf_fHc_pose_z = Column(Float,default=0.0)
# tf_fHc_roll = Column(Float,default=0.0)
# tf_fHc_pitch = Column(Float,default=0.0)
# tf_fHc_yaw = Column(Float,default=0.0)
MAC WKM0125A:
DOCKER C8:F7:50:D4:6C:EA
WIFI 04:EA:56:36:F3:CB
ETHERNET 62:D1:94:03:68:75
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