Main repository for bachelor work at Syscon 2019

Packages used (ros melodic) for this project:
Universal-robot: https://github.com/ros-industrial/universal_robot/tree/kinetic-devel
UR-modern-driver(modified for ur-modern-driver): https://github.com/endre90/ur_modern_driver
Robotiq: http://wiki.ros.org/robotiq
Optoforce: https://github.com/OptoForce/etherdaq_ros.git
ROS Industrial Core: https://github.com/ros-industrial/industrial_core

• ROS installed and sourced. Catkin installed. See ROSWiki for more information.

To avoid having to source the environment manually with every new terminal, we can automate using the .bashrc file. Do this after step 3 described below. Open the file using nano ~/.bashrc and append the following lines after changing them according to your environment:

source /opt/ros/melodic/setup.bash
source ~/<Name of Catkin WS>/devel/setup.bash
export LC_NUMERIC="en_US.UTF-8"

Restart your terminal to apply the changes.

• git installed.

• Pip installed. Pip can be installed with sudo apt update && sudo apt install python-pip
• The 'pymodbus' package for python installed. This is needed for the gripper and can be installed using 'sudo pip install pymodbus'
• Your user is a member of the dialout group. This can be done by running sudo usermod -a -G dialout $USER and after that restarting your system.

• UR10 Robot with a working network connection and a known ip-address.
• Optoforce controller with working network connection and knwon ip-address. The actual sensor should be mounted on the robot's end affector with the correct orientation.
• A computer that can run ROS, connected on the same network as the robot and Optoforce controller.
• Optional: A Robotiq 2 finger gripper that is mounted to the force/torque sensor, and connected to the computer running ROS.

1. Create a catkin workspace, preferably in you home directory. See Catkin Tutorial.
2. Navigate to <Name of you workspace>/src and use git clone <URL to github repo> to clone all packages listed under "Required packages" individually. Make sure to also clone this repository.
3. Build the workspace by running catkin_make in the root of the workspace (might take some time).
4. Modify the launch file <Name of Catkin WS>/src/cobots19/launch/launchDriver.launch so that the 'optoforce_etherdaq_driver' has the ip address to the optoforce controller.
5. If you are not using a gripper, you can comment the "Robotiq2FGripperRtuNode" line to avoid starting the gripper driver.
6. The drivers can now be started by running roslaunch cobots19 launchDriver.launch robot_ip:=<IP address of robot controller>. If this command cannot be run, make sure that you have sourced the environment properly (see "Prerequisits").