Collaborative-Robotic-Sanding

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

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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

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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.

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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

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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.

2. Create soft link

   ln -s  $(pwd) $HOME/crs_data
   
   

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Running Application

• See the instructions here

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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