aero-ros-pkg

Pre-requirement

Install ROS

Install ROS kinetic [Recommended]

or

Install ROS indigo

sudo apt-get install ros-${ROS_DISTRO}-desktop-full

Setup catkin workspace

sudo apt-get install python-wstool python-catkin-tools
mkdir -p ~/ros/${ROS_DISTRO}
cd ~/ros/${ROS_DISTRO}
wstool init src
catkin init
catkin build
source ~/ros/${ROS_DISTRO}/devel/setup.bash

source setup.bash in ~/.bashrc

Please add the following line to ~/.bashrc

source ~/ros/${ROS_DISTRO}/devel/setup.bash

Install

Clone repository and Setup ROS binary packages

cd ~/ros/${ROS_DISTRO}/src
wstool set aero-ros-pkg https://github.com/seed-solutions/aero-ros-pkg.git --git
wstool up aero-ros-pkg
cd ~/ros/${ROS_DISTRO}
rosdep install -y -r --from-paths src --ignore-src

You may need sudo rosdep init and rosdep update before rosdep install. Please follow the terminal message.

Build packge

Build aero_description

cd aero-ros-pkg
catkin build aero_description
source ~/.bashrc

Setup aero_startup

In the initial stage, aero_startup is not ros package, it has no CMakeLists.txt. CMakeLists.txt and some controller modules are generated by aero_description/setup.sh. setup.sh requires robot directory as an argument e.g. setup.sh typeFCET.

roscd aero_description
./setup.sh typeF  # including catkin build aero_startup
source ~/.bashrc

If you need clean up aero_startup, please use aero_description/clean.sh.

Control AERO

Setup udev

T.B.D.

If USB connect your local PC from robot_pc,

udev_setting

First,

sudo cp ~/{your_workspace}/src/aero-ros-pkg/aero_startup/aero_hardware_interface/udev/90-aero.rules /etc/udev/rules.d

Second, please connect only the USB connector from upper_body,

udevadm info /dev/ttyUSB0 | grep "ID_SERIAL_SHORT" 

Please overwrite the displayed serial number in /etc/udev/rules.d/90-aero.rules

For example,

ATTRS {idProduct} == "6001", ATTRS {serial} == "FT98HN7S", MODE = "0403", ATTRS {idVendor} == "0403", ETR: ID_SERIAL_SHORT = FT98HN7S, 666 ", SYMLINK + =" aero_upper "

Similarly, plug and unplug USB in lower body (command confirmed)

Run controllers

roslaunch aero_startup aero_bringup.launch

If you want to move wheels, please refer aero_move_base.

View Robot Model

rosrun rviz rviz

then add RobotModel

Simulation

See aero_gazebo

MoveIt

maintenance

Samples

Build Samples

catkin build aero_samples

Run Minimum Sample

rosrun aero_samples minimum_sample_node

Control from Command Line

Move Torso

rostopic pub /lifter_controller/command trajectory_msgs/JointTrajectory "header:
  seq: 0
  stamp:
    secs: 0
    nsecs: 0
  frame_id: ''
joint_names:
- 'ankle_joint'
- 'knee_joint'
points:
- positions: [0.5, -0.5]
  velocities: [0, 0]
  accelerations: [0, 0]
  effort: [0, 0]
  time_from_start: {secs: 3, nsecs: 0}"

Move hands

## Open
rosservice call /aero_hand_controller "{hand: $(python -c 'import aero_startup.srv; print aero_startup.srv.HandControlRequest.HAND_RIGHT'), command: $(python -c 'import aero_startup.srv; print aero_startup.srv.HandControlRequest.COMMAND_UNGRASP'), power: 0, time_sec: 0}"

## Grasp
rosservice call /aero_hand_controller "{hand: $(python -c 'import aero_startup.srv; print aero_startup.srv.HandControlRequest.HAND_RIGHT'), command: $(python -c 'import aero_startup.srv; print aero_startup.srv.HandControlRequest.COMMAND_GRASP'), power: 0, time_sec: 1.0}"

## Angle
rosservice call /aero_hand_controller "{hand: $(python -c 'import aero_startup.srv; print aero_startup.srv.HandControlRequest.HAND_RIGHT'), command: $(python -c 'import aero_startup.srv; print aero_startup.srv.HandControlRequest.COMMAND_GRASP_ANGLE'), power: 0, time_sec: 1.0, larm_angle: 0.5, rarm_angle: 0.5}"

Writing Codes

see aero_samples and aero_std documentation

Build check and test by Docker

install docker https://docs.docker.com/install/linux/docker-ce/ubuntu/

build docker image under aero-ros-pkg directory

docker build -f Dockerfile.kinetic --tag ros:aero_kinetic --build-arg RUN_TESTS=true .

PS3 Joy Stick Teleop

Launch move base

roslaunch aero_startup wheel_with_static_map.launch

Usage

Teleoperate aero using ps3 controller!

Basic Mode

Button	Function
0	Change to Joint Mode
1	Forward/Backward move base (with 10), Up/Down lifter (with 11)
2	Control forward/backward driving
3	Change to Basic Mode
4	Not used
5	Not used
6	Arm tuck
7	Not used
8	Not used
9	Not used
10	Move Teleop
11	Lifter Teleop
12	Not used
13	Close Right Hand
14	Open Hand
15	Close Left Hand
16	Reset Pose

Joint Mode

Button	Function
0	Change to Joint Mode
1	Control Joint Angle
2	Not userd
3	Change to Basic Mode
4	Control Joint Angle
5	Control Joint Angle
6	Control Joint Angle
7	Control Joint Angle
8	Control Left Forearm
9	Control Right Forearm
10	Control Left Upper Arm
11	Control Right Upper Arm
12	Control Right Upper Arm
13	Control Right Wrist
14	Control Torso
15	Control Left Wrist
16	Pair/unpair with robot