ROS 2 stack for external control of the ABB YuMi.

Dependencies:

• vcs import
  • sudo apt-get install python3-vcstool
• abb_librws dependencies
  • POCO C++ Libraries (>= 1.4.3 due to WebSocket support)
    • Navigate to home dir. Should be built from source.

      sudo apt-get -y update && sudo apt-get -y install git g++ make cmake libssl-dev  
      git clone -b master https://github.com/pocoproject/poco.git   
      cd poco
      mkdir cmake-build 
      cd cmake-build
      sudo cmake ..
      sudo cmake --build . --target install
      

• abb_libegm dependencies
  • Boost
    • sudo apt-get install libboost-all-dev
  • Protobuf
    • Should be built from source.

       sudo apt-get install autoconf automake libtool curl make g++ unzip  
       git clone https://github.com/protocolbuffers/protobuf.git  
       cd protobuf  
       ./configure
       sudo make
       sudo make install
       sudo ldconfig # refresh shared library cache.
      

• Install pose_estimation dependencies. Guide in repo https://github.com/yumi-crew/pose_estimation

• Install zivid-ros dependencies. Guide in repo https://github.com/yumi-crew/zivid-ros.git

• Moveit 2 dependencies
  • yaml-cpp
    • sudo apt-get install libyaml-cpp-dev

Installation:

Installs ROS 2 packages used to control the ABB YuMi and the Zivid One 3D camera. External packages are contained in the organization.

1. Clone repos

    mkdir -p /home/$USER/abb_ws/src && cd /home/$USER/abb_ws/src
    git clone https://github.com/yumi-crew/yumi.git
    vcs import /home/$USER/abb_ws/src < /home/$USER/abb_ws/src/yumi/yumi.repos
    vcs import /home/$USER/abb_ws/src < /home/$USER/abb_ws/src/moveit2/moveit2.repos
    rosdep install -r --from-paths . --ignore-src --rosdistro eloquent -y
   

2. Build

    cd /home/$USER/abb_ws/
    # To build moveit2
    colcon build --event-handlers desktop_notification- status- --cmake-args -DCMAKE_BUILD_TYPE=Release
    # Normal build, just in case;)
    colcon build --symlink-install
    source install/local_setup.bash
   

   When building, the KDL library will complain about not finding “Eigen/Core” etc. This is due to the library expecting an older version of Eigen. This can be fixed by adding “eigen3” in the include statements, ex: “#include <eigen3/Eigen/Core”. (need sudo privileges)

   Use

Launch architecture

   ros2 launch yumi_launch yumi_moveit2_zivid.launch.py

Sim:

   ros2 launch yumi_launch yumi_moveit2_zivid_sim.launch.py

Run bin pick demo

   ros2 launch yumi_test demo.launch.py