444 lines
15 KiB
Markdown
444 lines
15 KiB
Markdown
# CPS Hub: Fanuc CRX-10iA Framework
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## Installation of the core packages
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The following software needed to be installed on the Intel NUC:
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+ Ubuntu 20.04
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+ ROS-1 Noetic (from binaries)
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+ ROS-2 Foxy (from source) including a separate initialization of the ROS-1 Bridge
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+ Fanuc ROS-1 Interface (Fanuc Driver)
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### ROS-1 Noetic
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The installation of ROS-1 Noetic is the most convenient option as it can be done using binaries. The following steps need to be executed in a bash terminal:
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```
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sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
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sudo apt install curl
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curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
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sudo apt update
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sudo apt install ros-noetic-desktop-full
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```
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To use ROS-1 in a bash terminal, the setup file must be sourced. This must be done in each new bash terminal window.
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```
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source /opt/ros/noetic/setup.bash
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```
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### ROS-2 Foxy
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Installing ROS-2 Foxy requires more steps because it needs to be installed from source. This installation method is necessary to set up the ROS-1 Bridge for custom message types. The following steps must be followed in a bash terminal:
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```
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sudo apt update && sudo apt install locales
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sudo locale-gen en_US en_US.UTF-8
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sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
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export LANG=en_US.UTF-8
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sudo apt install software-properties-common
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sudo add-apt-repository universe
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sudo apt update && sudo apt install curl -y
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sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
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echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
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sudo apt update && sudo apt install -y libbullet-dev python3-pip python3-pytest-cov ros-dev-tools
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python3 -m pip install -U argcomplete flake8-blind-except flake8-builtins flake8-class-newline flake8-comprehensions flake8-deprecated flake8-docstrings flake8-import-order flake8-quotes pytest-repeat pytest-rerunfailures pytest
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sudo apt install --no-install-recommends -y libasio-dev libtinyxml2-dev
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sudo apt install --no-install-recommends -y libcunit1-dev
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mkdir -p ~/ros2_foxy/src
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cd ~/ros2_foxy
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vcs import --input https://raw.githubusercontent.com/ros2/ros2/foxy/ros2.repos src
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sudo apt upgrade
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sudo rosdep init
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rosdep update
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rosdep install --from-paths src --ignore-src -y --skip-keys "fastcdr rti-connext-dds-5.3.1 urdfdom_headers"
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cd ~/ros2_foxy/
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colcon build --symlink-install
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```
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In any bash terminal, the ROS-2 setup file must be sourced if you intend to use ROS-2.
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```
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$ source ~/ros2_foxy/install/local_setup.bash
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```
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### Overlay Workspaces
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To install the additional packages, overlay workspaces are needed.
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```
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source /path/to/noetic/setup.bash
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cd ~
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mkdir <name of ros1 overlay ws>
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cd <name of ros1 overlay ws>
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mkdir src
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catkin_make
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```
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In another bash terminal:
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```
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source /path/to/foxy/setup.bash
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cd ~
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mkdir <name of ros2 overlay ws>
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cd <name of ros2 overlay ws>
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mkdir src
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colcon build
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```
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Now you can place the ROS-1 and ROS-2 core packages from this repository into the "src" directories of the overlay workspaces:
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+ ros1_noetic_core (into the ROS-1 overlay workspace folder on the NUC):
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+ fanuc_msg_translator
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+ fanuc_msg_translator_msgs
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+ ros2_foxy_core (into the ROS-2 overlay workspace folder on the NUC):
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+ fanuc_crx_description
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+ fanuc_msg_translator_msgs
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CAVE: all python files have to be made executable:
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```
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cd path/to/python/file/in/the/package
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chmod +x <name of the python file>
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```
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### Fanuc ROS-1 Interface
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The Fanuc ROS-1 Interface package can be acquired by requesting it from Fanuc's Technical Support. Fanuc's Technical Support will provide a folder containing the pre-built ROS-1 package along with a short documentation.
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The zip package containing the Fanuc ROS-1 Interface must be extracted and placed in the file system. It is common to place it in the user's folder.
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Before installing the Fanuc ROS-1 Interface, it is advisable to create a ROS-1 workspace if one does not already exist. The following bash code demonstrates how to create this workspace in the user's home directory:
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```
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source /opt/ros/noetic/setup.bash
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cd ~
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mkdir <name of the workspace folder>
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cd <name of the workspace folder>
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mkdir src
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catkin_make
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```
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For the installation process, the following steps need to be executed in a bash terminal:
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```
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sudo apt install ros-noetic-industrial-msgs
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sudo apt install ros-noetic-rviz
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sudo apt install libmodbus-dev libjsoncpp-dev lshw
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chmod u+x path/to/fanuc/ros/driver/lib/fanuc_ros_driver/*_node
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chmod u+x path/to/fanuc/ros/driver/_setup_util.py
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source path/to/fanuc/ros/driver/setup.bash
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cd path/to/your/ROS1/workspace
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rm -rf devel build
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catkin_make
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source devel/setup.bash
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```
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Running these commands will install the Fanuc ROS-1 interface. However, the license is still missing. Therefore, a file containing the hardware information of the computer must be sent to Fanuc's technical support.
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To create a hardware information file, the following commands need to be executed in a bash terminal:
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```
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roslaunch fanuc_ros_driver fanuc_interface.launch create_license:=true
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```
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Once the license file from technical support is received, the Fanuc ROS-1 Interface can be launched using the following steps:
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```
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roslaunch fanuc_ros_driver fanuc_interface.launch ip:="robot ip address" robot_type:="CRX-10iA" license:="path to license.data"
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```
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### ROS-1 Bridge
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CAVE: Before installing the ROS-1 Bridge, the core packages from this repository must be placed into the correct workspaces (and the workspaces have to be built with catkin for ROS-1 and colcon for ROS-2).
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The installation files for the ROS-1 Bridge are already included in the ROS-2 distribution repository. To initialize the ROS-1 Bridge, the following steps need to be executed in a bash terminal:
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```
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cd ~/ros2_foxy
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colcon build --symlink-install --packages-skip ros1_bridge
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source path/to/ros1/workspace/install/setup.bash
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source path/to/ros2/workspace/install/setup.bash
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source path/to/ros1/overlay/workspace/install/setup.bash
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source path/to/ros2/overlay/workspace/install/local_setup.bash
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colcon build --symlink-install --packages-select ros1_bridge --cmake-force-configure
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```
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### License Path
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At this step, the core packages from this repository should already be installed. Now, the static path of the license should be written into the FANUC_LICENSE environment variable. This can be permanently done by adding the export statement to the .bashrc file.
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```
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echo 'export FANUC_LICENSE="/absolute/path/to/license.data" ' >> ~/.bashrc
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```
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## Launching the Interface
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### ROS-1 fanuc_msg_translator Package
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Depending on the use case following launch files are available:
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+ fanuc_1.launch
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+ fanuc_2.launch
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+ fanuc_pair.launch (launches the nodes for the operation of both robots on the same NUC)
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Example:
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```
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source /path/to/ros_1_overlay_ws/devel/setup.bash
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roslaunch fanuc_msg_translator fanuc_1.launch
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```
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These launch files launch all the nodes seen in this figure, including the parameter for the ROS-1 Bridge:
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### ROS-2 ros1-bridge Package
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To enable communication between ROS-1 and ROS-2
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```
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source /path/to/ros_2_overlay_ws/install/setup.bash
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ros2 run ros1_bridge parameter_bridge
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```
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### ROS-2 fanuc_crx_descripton Package
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In ROS 1, the visualization cannot be directly bridged to ROS 2. As a result, the robot_state_publisher and some other nodes have to be launched separately in ROS 2. Additionally, the /tf and /tf_static topics are not bridged, allowing ROS 2 nodes to create them without encountering any complications. The following launch files can be launched:
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+ fanuc_1.launch.py
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+ fanuc_2.launch.py
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```
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source /path/to/ros_2_overlay_ws/install/setup.bash
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ros2 launch fanuc_crx_description fanuc_1.launch.py
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```
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The following figure shows the node structure in ROS-2:
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## Functionality of the Interface
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Once the interface is launched, it offers the following functions.
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### Joint States
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The current joint state values of the robot can be received from the <robot_name_space>/joint_states topic.
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### Robot Status
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The current robot status can be be received from the <robot_name_space>/robot_status topic. The custom message type has the following message file (fanuc_msg_translator_msgs package: FanucRobotStatus.msg):
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```
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std_msgs/Header header
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fanuc_msg_translator_msgs/FanucRobotStatusTriState tp_enabled
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fanuc_msg_translator_msgs/FanucRobotStatusTriState e_stopped
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fanuc_msg_translator_msgs/FanucRobotStatusTriState drives_powered
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fanuc_msg_translator_msgs/FanucRobotStatusTriState motion_possible
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fanuc_msg_translator_msgs/FanucRobotStatusTriState in_motion
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fanuc_msg_translator_msgs/FanucRobotStatusTriState in_error
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int32 error_code
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```
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It uses the following message type, which is also defined in the same package (fanuc_msg_translator_msgs package: FanucRobotStatusTriState.msg):
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```
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int8 val
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# enumerated values
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# Unknown or unavailable
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int8 UNKNOWN=-1
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# High state
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int8 TRUE=1
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int8 ON=1
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int8 ENABLED=1
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int8 HIGH=1
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int8 CLOSED=1
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# Low state
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int8 FALSE=0
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int8 OFF=0
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int8 DISABLED=0
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int8 LOW=0
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int8 OPEN=0
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```
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### Set Payload
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To set a predefined payload, a message of the following message type has to be sent to the <robot_name_space>/bridge/set_payload_num/goal topic (fanuc_msg_translator_msgs package: FanucPayloadStatus.msg).
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```
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std_msgs/Header header
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int16 payload_num
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```
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### Get the current Payload Number
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The last set payload number is periodically published to the <robot_name_space>/bridge/set_payload_num/state topic (fanuc_msg_translator_msgs package: FanucPayloadStatus.msg).
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```
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std_msgs/Header header
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int16 payload_num
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```
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### Send Trajectory
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A goal trajectory has to be sent to the <robot_name_space>/bridge/follow_joint_trajectory/goal topic. It uses the JointTrajectory message type from the trajectory_msgs package.
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### Trajectory Queue
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The trajectories, which are waiting for execution, are shown in the <robot_name_space>/bridge/follow_joint_trajectory/queue topic, which periodically publishes messages of the following message type (fanuc_msg_translator_msgs package: FanucTrajectoryConverterQueue.msg):
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```
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std_msgs/Header header
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fanuc_msg_translator_msgs/FanucTrajectoryConverterQueueItem[] goals
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```
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It uses the following message type, which is also defined in the same package (fanuc_msg_translator_msgs package: FanucTrajectoryConverterQueueItem.msg):
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```
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builtin_interfaces/Time received_time_stamp
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int16 status_in_queue
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int16 status_on_server
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```
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The received_time_stamp is the unique id of every trajectory in the queue. It is the time stamp from the header of the trajectory message received via the <robot_name_space>/bridge/follow_joint_trajectory/goal topic.
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The status in the queue is:
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+ 0 if the trajectory is waiting
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+ 1 if the trajectory is currently executed
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+ 100 to 130 if the trajectory is finished (counter until 130, afterward it is removed from the queue topic)
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The status on the server is:
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+ -1 if the trajectory is waiting or currently executed
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+ one of the following values from the original message type (action server of the Fanuc ROS Driver) after the trajectory is finished or aborted.
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From: http://docs.ros.org/en/api/actionlib_msgs/html/msg/GoalStatus.html
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```
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GoalID goal_id
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uint8 status
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uint8 PENDING = 0 # The goal has yet to be processed by the action server
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uint8 ACTIVE = 1 # The goal is currently being processed by the action server
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uint8 PREEMPTED = 2 # The goal received a cancel request after it started executing
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# and has since completed its execution (Terminal State)
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uint8 SUCCEEDED = 3 # The goal was achieved successfully by the action server (Terminal State)
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uint8 ABORTED = 4 # The goal was aborted during execution by the action server due
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# to some failure (Terminal State)
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uint8 REJECTED = 5 # The goal was rejected by the action server without being processed,
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# because the goal was unattainable or invalid (Terminal State)
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uint8 PREEMPTING = 6 # The goal received a cancel request after it started executing
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# and has not yet completed execution
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uint8 RECALLING = 7 # The goal received a cancel request before it started executing,
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# but the action server has not yet confirmed that the goal is canceled
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uint8 RECALLED = 8 # The goal received a cancel request before it started executing
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# and was successfully cancelled (Terminal State)
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uint8 LOST = 9 # An action client can determine that a goal is LOST. This should not be
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# sent over the wire by an action server
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```
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### Cancel Trajectory
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A trajectory can be canceled by sending of the following type to the <robot_name_space>/bridge/follow_joint_trajectory/cancel topic (fanuc_msg_translator_msgs package: FanucTrajectoryConverterCancel.msg).
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```
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std_msgs/Header header
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builtin_interfaces/Time received_time_stamp
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```
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## Operation Modes
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### IP Configuration
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The following static IP addresses are assigned:
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+ Fanuc 1: 192.168.1.201
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+ Fanuc 2: 192.168.1.206
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+ NUC 1: 192.168.1.202
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+ NUC 2: 192.168.1.207
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If the IP addresses of the robot controllers are changed, the IP addresses have to be changed in following package:
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+ Workspace: ROS-1 Overlay
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+ Package: fanuc_msg_translator
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+ Config Files: params_fanuc_1.yaml and params_fanuc_2.yaml
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### Modularity
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Because of the static IPs and the Fanuc Robots and the NUCs can be used flexibly:
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+ 1 Robot - 1 NUC
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+ 2 Robots - 1 NUC
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+ 2 Robots - 2 NUCs (in the same network, e.g. CPS-HUB)
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+ 2 Robots - 2 NUCs (in different networks --> mobile router must be configured identically to the CPS Laboratory networks router)
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## ROS-2 Network control
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To use to Fanuc ROS-2 Interface from another computer than the NUC, the message types need to be installed to ROS-2. Therefore copy the fanuc_msg_translator_msgs package from the ros2_foxy_core folder of this repository into the overlay workspace on any other machine and install it with colcon build.
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## RViz
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The /tf and the /robot_description topics are published by the nodes launched in the procedure shown above. If you want to use RViz on another computer in the same network, make sure the fanuc_crx_description is installed in the local overlay workspace. If ROS-2 Humble is used on the computer,the fanuc_crx_description package from the folder "ros2_humble_crx_description"
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can be utilized. If ROS-2 Foxy is used, please use the package with the same name from the "ros2_foxy_core" folder, because ROS-2 Foxy has issues compiling the xacro (urdf) files.
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You can start rviz with:
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```
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source /path/to/ROS-2/setup.bash
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rviz2
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```
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To visualize the transformation of the frames click "add" --> "TF". To show the whole model of the robot click "add" --> "RobotModel".
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TF and RobotModel should be shown in the tree structure on the left side of RViz. Make sure following settings are made for the RobotModel:
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+ Description Topic: /<robot_name_space>/robot_description
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+ TF Prefix: <robot_name_space>
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