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Repository Summary
| Description | Collaborative Robotic Sanding Application |
| Checkout URI | https://github.com/swri-robotics/collaborative-robotic-sanding.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2021-01-29 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| crs_application | 0.1.0 |
| crs_area_selection | 0.1.0 |
| crs_gazebo_plugins | 0.1.0 |
| crs_gui | 0.1.0 |
| crs_motion_planning | 0.0.0 |
| crs_msgs | 0.0.0 |
| crs_perception | 0.0.0 |
| crs_process_data | 0.0.0 |
| crs_robot_comms | 0.0.0 |
| crs_support | 0.0.0 |
| crs_toolpath_gen | 0.0.0 |
| crs_utils_py | 0.1.0 |
README
Collaborative-Robotic-Sanding
The CRS (Collaborative Robotic Sanding) Application buit in ROS2 eloquent
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
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.
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
Setup
Data Directory
Create a soft link (shortcut) in the home directory as follows
- cd into the
crs_process_datapackage
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.
- Create soft link
ln -s $(pwd) $HOME/crs_data
---
### Running Application
- See the instructions [here](crs_application/README.md)
---
### Hardware dependencies
The following instructions are necessary when running on real hardware:
#### Camera Driver
- Go to [Framos Depth Camera](https://www.framos.com/en/industrial-depth-cameras#downloads). Download and Extract the [tar file](https://www.framos.com/framos3d/D400e/Software/FRAMOS_D400e_Software_Package_v1-8-0_Linux64_x64.tar.gz) 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
CONTRIBUTING
No CONTRIBUTING.md found.
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