UR3_ERC_Maintenance_Stack

This repository contains the Maintenance Stack for the ERC Remote competition.

Table of Contents

1. Requirements
   1. Download UR3 simulation
   2. Run simulation
2. Building
3. Running the Simulation
   1. Launching the Objective

Requirements

The simulation requires ROS and simulations of the Universal Robots UR3 robot created for the ERC competition

• ROS Noetic Ninjemys on Ubuntu 20.04 Focal Fossa
• ERC-Remote-Maintenance-Sim

Download UR3 simulation

For the simulation to work on your system, you must install dependencies and download repositories by running the following commands:

source /opt/ros/noetic/setup.bash
sudo apt-get update && apt-get upgrade -y && apt-get install -y lsb-core g++
sudo apt-get install git
rosdep init && rosdep update
sudo apt install ros-noetic-moveit -y
sudo apt install ros-noetic-ros-controllers* -y
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
git clone -b kinetic-devel https://github.com/ros-industrial/universal_robot.git
sudo rm -r universal_robot/ur_msgs
git clone https://github.com/roboticsgroup/roboticsgroup_gazebo_plugins
git clone https://github.com/Michal-Bidzinski/UR3_sim.git
cd ~/catkin_ws
catkin_make
source devel/setup.bash

Run simulation

To run UR3 simulation in Gazebo with MoveIt!, and RVzi GUI, including an example cell:

roslaunch ur3_sim simulation.launch

To run UR3 simulation in Gazebo with MoveIt!, and RVzi GUI, containing only a robot with a grapple and a camera (as per real setup):

roslaunch ur3_sim real_station.launch

Building

This repository contains all the competition submissions.

To clone the repo:

git clone https://github.com/rukna40/ERC_Maintenance_Stack.git

navigate to your root directory:

cd

clone this repository Navigate to the repository:

cd ERC_Maintenance_Stack

Now, use the catkin_make tool to build the workspace:

catkin_make

If you don’t want to have to source the setup file every time you open a new shell, then you can add the commands to your shell startup script:

echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
echo "source ~/ERC_Maintenance_Stack/devel/setup.bash" >> ~/.bashrc

Running the Simulation

Before running the launch file, you will need to make all the Python files executable.

To do that navigate to the scripts folder of that package, and run the following command

chmod +x *.py 

Pull docker

sudo docker pull ghcr.io/rukna40/erc_maintenance_stack:latest

Run Codes

Run the docker.

sudo docker run -it --net=host --name mrm_img ghcr.io/rukna40/erc_maintenance_stack:latest

Navigate to the scripts folder inside the docker.

cd src/marsrovermanipal_td2/scripts

Make the scripts executable.

chmod +x *.py 

Navigate back to the root directory.

cd ../../../

Open another terminal and navigate to UR3 simulation directory.

cd catkin_ws

Source setup.bash.

source devel/setup.bash

Launch the UR3 simulation.

roslaunch ur3_sim simulation.launch

Go back to docker terminal and source it.

source devel/setup.bash

Launch the Objectives.

roslaunch marsrovermanipal_td2 obj1.launch

Launching the Objective

To run the simulation, run roslaunch <package_name> obj<objective_no>.launch and the parameters if any.

Example:

• objective 1

roslaunch marsrovermanipal_td2 obj1.launch

• objective 2

roslaunch marsrovermanipal_td2 obj2.launch tags:="1, 2, 3, 4"

• objective 3

roslaunch marsrovermanipal_td2 obj3.launch

• objective 4

roslaunch marsrovermanipal_td2 obj4.launch angle:=45

• objective 5

roslaunch marsrovermanipal_td2 obj5.launch

• objective 6

roslaunch marsrovermanipal_td2 obj6.launch

• objective 7

roslaunch marsrovermanipal_td2 obj7.launch

• objective 8

roslaunch marsrovermanipal_td2 obj8.launch

• objective 9

roslaunch marsrovermanipal_td2 obj9.launch tag:="1"

• objective 10

roslaunch marsrovermanipal_td2 obj10.launch