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snp_automate_2022 package from industrial_training repo

myworkcell_core myworkcell_support myworkcell_moveit_config ur5_demo_descartes ur10_demo_descartes lesson_perception filter_call py_perception detect_pump myworkcell_msgs snp_motion_planning snp_application snp_automate_2022 snp_motion_execution snp_msgs snp_scanning snp_tpp cal_demo_intrinsics cal_demo_motion cal_demo_moveit_config cal_demo_support plan_and_run ur5_demo_moveit_config ur5_demo_support pick_and_place pick_and_place_perception pick_and_place_support collision_avoidance_pick_and_place object_manipulation_msgs robot_config robot_io sensor_config ur5_collision_avoidance_moveit_config industrial_moveit2_utils pick_and_place_application pick_and_place_msgs robot_workcell_support ur5_workcell_moveit2_config

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Package Summary

Tags No category tags.
Version 0.1.0
License Apache 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-industrial/industrial_training.git
VCS Type git
VCS Version humble
Last Updated 2025-03-11
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

This is the bringup package for launch the ros2 components of the workshop

Additional Links

No additional links.

Maintainers

  • Levi Armstrong

Authors

  • Levi Armstrong
exercises/8.0/template/snp_automate_2022/README.md

SNP Implementation at Automate 2022

This demo uses a Motoman HC10 mounted on a table with an Intel RealSense camera to reconstruct the surface of an arbitrary part and generate motion plans for polishing the part in a raster pattern

Build Setup

  1. Follow the build setup instructions for the main repository

  2. Clone the application-specific ROS2 dependencies into the same workspace

    cd <snp_workspace>
    vcs import src < snp_automate_2022/dependencies.repos

Build

colcon build --cmake-args -DTESSERACT_BUILD_FCL=OFF

ROS1 Hardware Interface Software Installation

Install the requisite ROS1 driver software to run the application on hardware

Note: this step is not required to run the application in simulation only

  1. Build the ros1_bridge
    • Create a new workspace, clone this branch of the ros1_bridge repository
      git clone -b action_bridge https://github.com/ipa-hsd/ros1_bridge.git
      

- Source the both ROS distros

      source /opt/ros/foxy/setup.bash
      source /opt/ros/noetic/setup.bash
      

- Build the bridge

      colcon build --symlink-install --packages-select ros1_bridge --cmake-force-configure
  1. Build the ROS1 workspace
    • Create a new workspace, clone this commit of the motoman repository
      git clone -b 63c94ec https://github.com/ros-industrial/motoman.git
      

- Source the ROS1 installation

      source /opt/ros/noetic/setup.bash
      

- Build the repo

      catkin build

Running the system

Simulation

ros2 launch snp_automate_2022 start.launch.xml

On Hardware

  1. Start the ROS1 launch file in a new terminal
    cd <ros1_workspace>
    source devel/setup.bash
    roslaunch motoman_hc10_support robot_interface_streaming_hc10.launch robot_ip:=192.168.1.31 controller:=yrc1000
  1. Run the bridge in a second terminal
    cd <bridge_workspace>
    source install/setup.bash
    ros2 run ros1_bridge dynamic_bridge --bridge-all-1to2-topics
  1. Start the ROS2 launch file in a third terminal
    cd <snp_workspace>
    source install/setup.bash
    ros2 launch snp_automate_2022 start.launch.xml sim_robot:=false sim_vision:=false
CHANGELOG
No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

  • launch/start.launch.xml
      • sim_vision [default: True]
      • sim_robot [default: True]
      • sim_execution [default: $(var sim_robot)]
      • mesh_file [default: $(find-pkg-share snp_automate_2022)/meshes/part_scan.ply]
      • scan_trajectory_file [default: $(find-pkg-share snp_automate_2022)/config/scan_traj.yaml]
      • verbose [default: True]
      • touch_links [default: [table, base_link, floor]]
      • robot_description_file [default: $(find-pkg-share snp_automate_2022)/urdf/workcell.xacro]
      • robot_description [default: $(command 'xacro $(var robot_description_file)')]
      • robot_description_semantic [default: $(command 'cat $(find-pkg-share snp_automate_2022)/config/workcell.srdf')]
      • reference_frame [default: base_link]
      • follow_joint_trajectory_action [default: joint_trajectory_position_controller/follow_joint_trajectory]
      • follow_joint_trajectory_action [default: joint_trajectory_action]
  • launch/test.launch.xml
      • robot_description [default: $(command 'xacro $(find-pkg-share snp_automate_2022)/urdf/workcell.xacro')]
      • robot_description_semantic [default: $(command 'cat $(find-pkg-share snp_automate_2022)/config/workcell.srdf')]
      • use_gui [default: true]
      • rviz [default: true]
      • rviz_config [default: $(find-pkg-share snp_automate_2022)/config/rviz_base_config.rviz]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged snp_automate_2022 at Robotics Stack Exchange

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