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Release/Flexiv ROS 2 Humble 0.9.1 (#27)
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@munseng-flexiv
munseng-flexiv authored Jan 25, 2024
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45 changes: 45 additions & 0 deletions .pre-commit-config.yaml
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# To run checks over all the files in the repo manually:
#
# pre-commit run -a
#
# Or run checks automatically every time before commit:
#
# pre-commit install
#
# See https://pre-commit.com for more information
# See https://pre-commit.com/hooks.html for more hooks
repos:
- repo: https://github.com/pre-commit/pre-commit-hooks
rev: v4.4.0
hooks:
- id: trailing-whitespace
- id: end-of-file-fixer
- id: check-yaml
args: [--allow-multiple-documents]
- id: check-added-large-files
args: [--maxkb=500]
- id: pretty-format-json
args: [--no-sort-keys, --autofix, --indent=4]

- repo: https://github.com/myint/docformatter
rev: v1.7.5
hooks:
- id: docformatter
args: [--in-place]

- repo: https://github.com/psf/black
rev: 23.9.1
hooks:
- id: black
language_version: python3
args: [--line-length=88]

- repo: local
hooks:
- id: clang-format
name: clang-format
description: Format files with ClangFormat.
entry: clang-format -i
language: system
files: \.(c|cc|cxx|cpp|cu|h|hh|hpp|hxx|java|js|m|proto)$
args: ["-fallback-style=none"]
40 changes: 28 additions & 12 deletions README.md
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Expand Up @@ -76,16 +76,17 @@ This project was developed for ROS 2 Foxy (Ubuntu 20.04) and Humble (Ubuntu 22.0
source install/setup.bash
```

**NOTE**: Remember to source the setup file and the workspace whenever a new terminal is opened:

```bash
source /opt/ros/humble/setup.bash
source ~/flexiv_ros2_ws/install/setup.bash
```
> [!NOTE]
> Remember to source the setup file and the workspace whenever a new terminal is opened:
> ```bash
> source /opt/ros/humble/setup.bash
> source ~/flexiv_ros2_ws/install/setup.bash
> ```
## Usage
**NOTE**: the instruction below is only a quick reference, see the [Flexiv ROS 2 Documentation](https://rdk.flexiv.com/manual/ros2_packages.html) for more information.
> [!NOTE]
> The instruction below is only a quick reference, see the [Flexiv ROS 2 Documentation](https://rdk.flexiv.com/manual/ros2_packages.html) for more information.
The prerequisites of using ROS 2 with Flexiv Rizon robot are [enable RDK on the robot server](https://rdk.flexiv.com/manual/getting_started.html#activate-rdk-server) and [establish connection](https://rdk.flexiv.com/manual/getting_started.html#establish-connection) between the workstation PC and the robot.
Expand All @@ -111,13 +112,15 @@ The main launch file to start the robot driver is the `rizon.launch.py` - it loa
ros2 launch flexiv_bringup rizon.launch.py robot_ip:=[robot_ip] local_ip:=[local_ip] rizon_type:=rizon4
```
**NOTE**: To test whether the connection between ROS and the robot is established, you could disable the starting of RViz first by setting the `start_rviz` launch argument to false.
- Test with fake hardware (`ros2_control` capability):
```bash
ros2 launch flexiv_bringup rizon.launch.py robot_ip:=dont-care local_ip:=dont-care use_fake_hardware:=true
```
> [!TIP]
> To test whether the connection between ROS and the robot is established, you could disable the starting of RViz first by setting the `start_rviz` launch argument to false.
2. Publish commands to controllers
- To send the goal position to the controller by using the node from `flexiv_test_nodes`, start the following command in a new terminal:
Expand All @@ -133,8 +136,6 @@ The main launch file to start the robot driver is the `rizon.launch.py` - it loa
ros2 launch flexiv_bringup rizon.launch.py robot_ip:=[robot_ip] local_ip:=[local_ip] robot_controller:=joint_impedance_controller
```
**NOTE**: The command starts the robot in the joint torque mode. In this mode, gravity and friction are compensated **only** for the robot **without** any attached objects (e.g. the gripper, camera).

Open a new terminal and run the launch file:
```bash
Expand All @@ -143,7 +144,11 @@ The main launch file to start the robot driver is the `rizon.launch.py` - it loa
The robot should run a sine-sweep motion with joint impedance control.
**NOTE**: joint impedance control is not supported in fake/simulated hardware.
> [!NOTE]
> The command starts the robot in the joint torque mode. In this mode, gravity and friction are compensated **only** for the robot **without** any attached objects (e.g. the gripper, camera).
> [!NOTE]
> Joint impedance control is not supported in fake/simulated hardware.
### Using MoveIt
Expand All @@ -169,4 +174,15 @@ The robot driver (`rizon.launch.py`) publishes the following feedback states to
- `/force_torque_sensor_broadcaster/wrench`: Force-torque (FT) sensor raw reading in flange frame: $^{flange}F_{raw}$ in force $[N]$ and moment $[Nm]$. The value is 0 if no FT sensor is installed. [[`geometry_msgs/WrenchStamped.msg`](https://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/WrenchStamped.html)]
- `/tcp_pose_broadcaster/tcp_pose`: Measured TCP pose expressed in base frame $^{0}T_{TCP}$ in position $[m]$ and quaternion. [[`geometry_msgs/PoseStamped.msg`](https://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/PoseStamped.html)]
**NOTE**: The topic names of the broadcasters are specified in `flexiv_bringup/config/rizon_controllers.yaml`
> [!NOTE]
> The topic names of the broadcasters are specified in `flexiv_bringup/config/rizon_controllers.yaml`
### GPIO
All digital inputs on the robot control box can be accessed via the ROS topic `/gpio_controller/gpio_inputs`, which publishes the current state of all the 16 digital input ports *(True: port high, false: port low)*.
The digital output ports on the control box can be set by publishing to the topic `/gpio_controller/gpio_outputs`. For example:
```bash
ros2 topic pub /gpio_controller/gpio_outputs flexiv_msgs/msg/GPIOStates "{states: [{pin: 0, state: true}, {pin: 2, state: true}]}"
```
18 changes: 10 additions & 8 deletions flexiv_bringup/config/rizon_controllers.yaml
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Expand Up @@ -5,27 +5,30 @@ controller_manager:
forward_position_controller:
type: position_controllers/JointGroupPositionController

joint_impedance_controller:
type: flexiv_controllers/JointImpedanceController
rizon_arm_controller:
type: joint_trajectory_controller/JointTrajectoryController

joint_state_broadcaster:
type: joint_state_broadcaster/JointStateBroadcaster

force_torque_sensor_broadcaster:
type: force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster

joint_impedance_controller:
type: flexiv_controllers/JointImpedanceController

gpio_controller:
type: flexiv_controllers/GPIOController

external_wrench_in_base_broadcaster:
type: flexiv_controllers/ExternalTcpWrenchBroadcaster

external_wrench_in_tcp_broadcaster:
type: flexiv_controllers/ExternalTcpWrenchBroadcaster

tcp_pose_state_broadcaster:
type: flexiv_controllers/TcpPoseStateBroadcaster

rizon_arm_controller:
type: joint_trajectory_controller/JointTrajectoryController

force_torque_sensor_broadcaster:
ros__parameters:
sensor_name: force_torque_sensor
Expand All @@ -40,7 +43,7 @@ external_wrench_in_tcp_broadcaster:
external_wrench_in_base_broadcaster:
ros__parameters:
sensor_name: external_wrench_in_base
frame_id: base_link
frame_id: flange
topic_name: external_wrench_in_base

tcp_pose_state_broadcaster:
Expand Down Expand Up @@ -91,7 +94,6 @@ rizon_arm_controller:
state_publish_rate: 100.0
action_monitor_rate: 20.0
allow_partial_joints_goal: false
allow_integration_in_goal_trajectories: true
constraints:
stopped_velocity_tolerance: 0.01
goal_time: 0.0
69 changes: 52 additions & 17 deletions flexiv_bringup/launch/rizon.launch.py
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Expand Up @@ -2,7 +2,12 @@
from launch.actions import DeclareLaunchArgument, RegisterEventHandler
from launch.conditions import IfCondition
from launch.event_handlers import OnProcessExit
from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution
from launch.substitutions import (
Command,
FindExecutable,
LaunchConfiguration,
PathJoinSubstitution,
)
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare

Expand Down Expand Up @@ -118,7 +123,7 @@ def generate_launch_description():
)
robot_description = {"robot_description": robot_description_content}

# RViZ
# RViZ
rviz_config_file = PathJoinSubstitution(
[FindPackageShare("flexiv_description"), "rviz", "view_rizon.rviz"]
)
Expand Down Expand Up @@ -165,50 +170,79 @@ def generate_launch_description():
joint_state_broadcaster_spawner = Node(
package="controller_manager",
executable="spawner",
arguments=["joint_state_broadcaster", "--controller-manager", "/controller_manager"],
arguments=[
"joint_state_broadcaster",
"--controller-manager",
"/controller_manager",
],
)

# Run force torque sensor broadcaster
force_torque_sensor_broadcaster_spawner = Node(
package="controller_manager",
executable="spawner",
arguments=["force_torque_sensor_broadcaster", "--controller-manager", "/controller_manager"],
arguments=[
"force_torque_sensor_broadcaster",
"--controller-manager",
"/controller_manager",
],
)

# Run external wrench in base broadcaster
external_wrench_in_base_broadcaster_spawner = Node(
package="controller_manager",
executable="spawner",
arguments=["external_wrench_in_base_broadcaster", "--controller-manager", "/controller_manager"],
arguments=[
"external_wrench_in_base_broadcaster",
"--controller-manager",
"/controller_manager",
],
)

# Run external wrench in tcp broadcaster
external_wrench_in_tcp_broadcaster_spawner = Node(
package="controller_manager",
executable="spawner",
arguments=["external_wrench_in_tcp_broadcaster", "--controller-manager", "/controller_manager"],
arguments=[
"external_wrench_in_tcp_broadcaster",
"--controller-manager",
"/controller_manager",
],
)

# Run tcp pose state broadcaster
tcp_pose_state_broadcaster_spawner = Node(
package="controller_manager",
executable="spawner",
arguments=["tcp_pose_state_broadcaster", "--controller-manager", "/controller_manager"],
arguments=[
"tcp_pose_state_broadcaster",
"--controller-manager",
"/controller_manager",
],
)

# Run gpio controller
gpio_controller_spawner = Node(
package="controller_manager",
executable="spawner",
arguments=["gpio_controller", "--controller-manager", "/controller_manager"],
)

# Delay rviz start after `joint_state_broadcaster`
delay_rviz_after_joint_state_broadcaster_spawner = RegisterEventHandler(
event_handler=OnProcessExit(
target_action=joint_state_broadcaster_spawner,
on_exit=[rviz_node],
)
)

# Delay start of robot_controller after `joint_state_broadcaster`
delay_robot_controller_spawner_after_joint_state_broadcaster_spawner = RegisterEventHandler(
event_handler=OnProcessExit(
target_action=joint_state_broadcaster_spawner,
on_exit=[robot_controller_spawner],
delay_robot_controller_spawner_after_joint_state_broadcaster_spawner = (
RegisterEventHandler(
event_handler=OnProcessExit(
target_action=joint_state_broadcaster_spawner,
on_exit=[robot_controller_spawner],
)
)
)

Expand All @@ -220,6 +254,7 @@ def generate_launch_description():
external_wrench_in_base_broadcaster_spawner,
external_wrench_in_tcp_broadcaster_spawner,
tcp_pose_state_broadcaster_spawner,
gpio_controller_spawner,
delay_rviz_after_joint_state_broadcaster_spawner,
delay_robot_controller_spawner_after_joint_state_broadcaster_spawner,
]
Expand Down
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