IRB6640 Robot Arm for Unscrewing task in a battery pack assembly line

This repository is a demonstration of the use of the IRB6640 robot arm for unscrewing tasks in a battery pack.

Technologies Used

• ROS2 Jazzy
• rclpy
• MoveIt2
• Embedded Systems Bridge for task planning

Packages

• irb_action_manager: Contains the action server related to the unscrewing task. Some functionalities are mocked for demonstration purposes.
• irb_bringup: Contains the launch files for bringing up the IRB6640 robot arm.
• irb_description: Contains the URDF and meshes for the IRB6640 robot arm
• irb_interfaces: Contains the interface for the IRB6640 robot arm. It uses the ROS2 action server for communication.
• irb_moveit_config: Contains the MoveIt configuration for the IRB6640 robot arm
• irb_task_planner: Contains the task planner for the unscrewing task. It uses the Embedded Systems Bridge for task planning.

Setup

To run this project, make sure you have ROS2 Jazzy and Moveit2 installed. Then, clone this repository and run the following commands:

git clone https://github.com/franklinselva/industrial-robot-arm-ros2.git
cd industrial-robot-arm-ros2
pip3 install -r requirements.txt # Make source the python environment is linked to ROS2
rosdep update && rosdep install --from-paths src --ignore-src -r -y --rosdistro $ROS_DISTRO
colcon build
source install/setup.bash

Running the project

To run the project, you can use the following commands:

# Make sure you have sourced the workspace
source install/setup.bash

# Bring up the robot arm
ros2 launch irb_bringup bringup.launch.py

# On a new terminal, run the task planner
ros2 run irb_task_planner unscrew_task_planner

If you want to run only the task planner, you can use the following command:

python3 scripts/unscrew_task_planning.py

Known Issues

• Moveit2 on ROS2 Jazzy might face issues when running demo.launch.py of irb_moveit_config package. You can refer to the issue moveit/moveit2#2734

Improvements

• The task planner can be improved to handle more complex scenarios and optimizations.
• The mocked action servers can be replaced with actual implementations.