10.R8803

Visual Robot Programming Application

Setup

The following software is needed to build and run the application:

• wstool
• rosdep
• pip2

Real Hardware Only

Install the Intel Realsense SDK 2.0

• Follow the instructions for installing the Realsense SDK only

Catkin Workspace Setup

• Use wstool to download all the required repositories

   wstool init src src/visual_programming/.rosinstall
  

• Use rosdep from the workspace top level directory to install all required debians

   rosdep install --from-path src --ignore-src
  

• Install python dependencies, from the workspace top level directory run the following

   pip2 install -r src/visual_programming/python_dependencies.txt
  

• (Real Hardware Only)

   wstool merge -t src src/visual_programming/.rosinstall_hardware
  

  Installs realsense ROS driver

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Joystick Device Details

• This demo uses a Fortune Tech Wireless VR30 gamepad in combination with a bluetooth receiver. However any other USB joystick should work
• Fortune Tech Wireless VR30 gamepad only:
  • To connect go into the bluetooth menu and pair it to the Fortune Tech Wireless device

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Joystick Device Test

• Install the following package

  sudo apt-get install jstest-gtk
  

• Run the jstest-gtk application and make sure that you can see your joystick. In addition to that take note of the joystick's device name (usually /dev/input/js0)
• Run the rosrun joy joy_node _dev:=/dev/input/js0 command and echo the /joy topic to make sure that the ros driver publishes the joystick messages on button presses
• (Optional) More info on configuring a joystick to work with ROS can be found at here

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Run Application

This application allows adding/removing waypoints to a robot trajectory. Once a trajectory has been created,
the software will generate a correspoding robot joint path, preview and execute the path on the real
(or simulated) robot.

*Currently the Planning and execution capabilities are a work in progress.

• If using Real Hardware, make sure that the joystick, robot and the camera are connected.

• Run the setup launch file:

  • Simulation Mode:

    roslaunch vpr_tracking application_setup.launch
    

    In tracking simulation mode, Use the slider widgets in the TF Publisher window to set the pose of the wand

  • Hardware Mode:

    roslaunch vpr_tracking application_setup.launch sim_tracking:=False sim_robot:=False
    

• Start the application: Run the application launch file as follows:

  roslaunch vpr_tracking application_run.launch
  

  • A text marker will show in rviz with the available actions:

    • ADD WAYPOINT
    • CLEAR_WAYPOINTS
    • PREVIEW PATH
    • DELETE_WAYPOINT
    • ADD_SEGMENT
    • MOVE HOME

  • Use the joystick's D-pad up and down directions to select an action. Then press the trigger button
    to execute the action.

  • Move the tracking tool while making sure it is in the view of the camera. Add a waypoint by using the ADD WAYPOINT action.

    As you add waypoints to the trajectory a green line Rviz Marker will show the connection between the active waypoints. The yellow line shows the waypoints that were recorded continuously.

  • After adding waypoints preview the robot path with the PREVIEW PATH action.

  • Then execute the trajection with the EXECUTE PATH action.

  *Note: All these command are context dependent so they may not be applicable all the time.