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Collaborative-Robotic-Sanding

The CRS (Collaborative Robotic Sanding) Application buit in ROS2 eloquent

Build Status Github Issues

license - apache 2.0 license - bsd 2 clause

Workspace Setup

Create the workspace directory

mkdir -p ~/crs_ws/src            # Make a new workspace and source directory
cd ~/crs_ws/src                     # Navigate to the workspace source directory
git clone https://github.com/swri-robotics/collaborative-robotic-sanding.git  # clone the repository

Download source dependencies

  • Install wstool
  • cd into your colcon workspace root directory
  • Run wstool as follows 
    cd ~/crs_ws
wstool init src src/collaborative-robotic-sanding/crs.rosinstall
wstool update -t src

Download debian dependences

  • Install rosdep
  • From the root directory of your workspace run the following: 
    rosdep install --from-path src --ignore-src -ry

Download additional REQUIRED resources

  • ros-eloquent-launch-xml

    sudo apt install ros-eloquent-launch-xml

    This allows using xml formatted launch files

  • QT5, which is a dependency of ros_scxml therefore follow the instructions provided here

Issues

  • To run on hardware it is necessary to build the ros1 robot driver and the bridge in separate workspace, see instructions on that below.

Build

ROS2 Application

This will build the main application, from the workspace run the following

colcon build --symlink-install

This application is all that is necessary to run the system in simulation mode with gazebo

Setup

Data Directory

Create a soft link (shortcut) in the home directory as follows

  1. cd into the crs_process_data package 
    cd crs_process_data/data/main/toolpaths

The main directory holds the toolpaths for the main workcell, choose surrogate1 if that workcell is to be used instead.

  1. Create soft link 
    ln -s  $(pwd) $HOME/crs_data

Running Application

  • See the instructions here

Hardware dependencies

The following instructions are necessary when running on real hardware:

Camera Driver

  • Go to Framos Depth Camera. Download and Extract the tar file and then install the FRAMOS-librealsense2-2.29.8-Linux64_x64.deb debian
  • Download source and debian dependencies 
    cd ~/crs_ws
wstool merge -t src src/collaborative-robotic-sanding/crs_hardware.rosinstall
wstool update -t src
rosdep install --from-path src --ignore-src -ry
colcon build --symlink-install

Build ROS1 Robot Driver and Bridge

  • Follow instructions here