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MiRco ROS interface control

Before controlling MiRco it is recommended to read the MiRco interface chapter of the documentation.

Make sure to follow the ROS interface parts of the Starting MiRco instructions.

Packages overview

  • mirco_robot: main control package
  • mirco_description: URDF description and launch files
  • mirco_moveit_config: MoveIt! configuration and launch files

For an overview of the individual ROS packages for MiR100 and UR5e see the MiR100 and UR5e ROS control documentation.

Usage

Start MiRco control

  • Prepare the robot arm. On the teach pendant load the external control UR program program. Power on and start the robot manipulator.

  • Run mirco_bringup.launch. Wait until the "subscribing to" & "publishing to" messages stop appearing. This means the connection is established 

    # MiR100 connection over hotspot
roslaunch mirco_robot mirco_bringup.launch

# MiR100 connection over outside network
roslaunch mirco_robot mirco_bringup.launch mir_ip:=<MiR100_IP>
    If you know MiR100_IP will not be changing (if you set up static IP) you can edit mirco_bringup.launch as: 
    # line 7
<arg name="mir_ip" default="<MiR100_IP>" doc="MiR IP address"/>

# then, while connected to an outside network, you can run 
roslaunch mirco_robot mirco_bringup.launch

  • Start the external control UR program on the teach pendant. In the terminal where you launched mirco_bringup you should see: 

    Robot connected to reverse interface. Ready to receive control commands

  • In another terminal run mirco_control.launch. 

    roslaunch mirco_robot mirco_control.launch

RViz

After you started MiRco control, you can send the robot to a goal using the 2D Nav Goal tool in RViz.

Send the robot to a goal:

  • open rviz 
    roslaunch mirco_robot view_mirco.launch
  • Make sure these RViz settings are set: 
    Panels -> Tool Properties -> 2D Nav Goal -> Topic: /mirco/mir100/move_base_simple/goal
Panels -> Tool Properties -> 2D Pose Estimate -> Topic: /mirco/mir100/initialpose
Global Options -> Fixed Frame: map
  • use 2D Pose Estimate to mark the approximate MiR100 start location
  • use 2D Nav Goal to send the robot to a goal

mirco_robot package

Overview of the main control package.

Launch files

mirco_bringup.launch

  • sets MiRco, MiR100, UR5e and 2F-85 namespaces and TF prefixes
  • sets robot IPs for the robot drivers
  • loads ROS parameters and MiRco URDF model
  • establishes connection with MiR100, UR5e and 2F-85

mirco_control.launch

  • launches mir_control_node
  • launches !MoveIt for the manipulator

ur_control.launch: Part of the UR5e ROS driver

view_mirco.launch: Launches RViz with saved config

delivery.launch

Demo delivery application inside Robolab. Needs (TODO:map name) to be the active MiR100 map. Expects the use of the VL docking marker.

  • delivers a gear to a station
  • places the gear on the station
  • goes away
  • returns to the station and picks up the gear
  • goes to an end position

conveyor.launch: Demo pick and place application for the manipulator. Same as delivery.launch without repositioning of the mobile base.

Config files

arm_gripper_joint_sources.yaml

MiRco uses 2 joint_state_publisher nodes.

One collects the sepparate joint states information of UR5e and 2F-85. It then combines them and publishes them to the /mirco_namespace/ur5e/joint_states topic.

The other collects the combined joint states information of UR5e and 2F-85 (from the first publisher) and the joint states of MiR100. It then publishes them to the /mirco_namespace/joint_states topic.

This confg file contains sources for where the first publisher looks for this joint information.

robot_joint_sources.yaml

MiRco uses 2 joint_state_publisher nodes.

One collects the sepparate joint states information of UR5e and 2F-85. It then combines them and publishes them to the /mirco_namespace/ur5e/joint_states topic.

The other collects the combined joint states information of UR5e and 2F-85 (from the first publisher) and the joint states of MiR100. It then publishes them to the /mirco_namespace/joint_states topic.

This confg file contains sources for where the second publisher looks for this joint information.

ur5e_saved_poses.yaml

File used to save manipulator poses as joint states. Used by save_arm_pose, set_arm_pose, get_arm_pose and get_arm_pose_names services to save or retrieve manipulator joint states.

# saved pose example
entry1:
  ur5e_elbow_joint: -1.9254509210586548
  ur5e_shoulder_lift_joint: -1.3431395900300522
  ur5e_shoulder_pan_joint: -0.07610828081239873
  ur5e_wrist_1_joint: -1.4239323896220704
  ur5e_wrist_2_joint: 1.5782090425491333
  ur5e_wrist_3_joint: -0.07931977907289678

Services