ARCHIVED: Experiment for Innovation Kitchen in 2019. Not in use and therefore archived.

ROS packages for the RBX1 remix.

• Have rbx1_ros installed on a RPi (Raspberry Pi) connected to RBX1. Follow guide, Getting started - RPi, if no RPi has been set up yet.
• Power up RPi. Log in.
• Open a terminal window and get ip address with command, ifconfig.
• Initalize ROS by running commands:

  cd ~/catkin_ws
  source devel/setup.bash
  roslaunch rbx1_slush slush.launch

• You can verify that ROS runs correctly by opening a new terminal window and using command rostopic list, which returns a list of topics. For instance, /joint_states, and /rbx1_joint_controller/command.
• Download and run rbx1_unity on a computer connected to the same network as the RPi.
• Enter ip address.

Packages based on ROS Kinetic which targets Ubuntu 16.04. Packages might not work properly with newer releases of ROS.

• Install ROS

• Install Gazebo

• Install ros package dependencies, timed_roslaunch, cv_camera, and rosbridge_suite:

sudo apt update
sudo apt install \
  ros-kinetic-timed-roslaunch \
  ros-kinetic-cv-camera \
  ros-kinetic-rosbridge-server

• Create a catkin workspace. Typically at ~/catkin_ws:

mkdir -p ~/catkin_ws/src

• Clone repository inside src folder:

git clone https://github.com/equinor/rbx1_ros

• Also clone git clone https://github.com/roboticsgroup/roboticsgroup_gazebo_plugins.git to the src folder.
• Build packages with catkin:

cd ~/catkin_ws
catkin_make

• This results in a new build and devel folder. Before continuing you need to source the workspace's setup.bash file:

source devel/setup.bash

• ROS should now be able to find and run your packages.

• Install Ubiquity RPi Lubuntu image on a RPi. The image has ROS preinstalled.

• Connect to a network

• Clone repo in catkin_ws/src.

• Delete the rbx1_urdf folder.

• Install SlushEngine:

  sudo wget https://raw.githubusercontent.com/olavvatne/slushengine/master/install.pl -O - | perl

• Run catkin_make and source devel/setup.bash.

• Start robot: roslaunch rbx1_slush slush.launch

URDF description of the RBX1 remix 6 axis robot. Based on moveo_urdf.

To view the model in Rviz:

roslaunch rbx1_urdf display.launch

To view the model in Gazebo:

roslaunch rbx1_urdf gazebo.launch

Ros wrapper for SlushEngine and the physical robot. If run on a RPi, SlushEngine will be used to communicate with the board. On a dev machine a mock robot implementation will be started instead.

Package contains everything related to robot control. Contains config files for joints and gripper and launch files for both real and simulated RBX1.

To launch the model with ROS controllers:

roslaunch rbx1_urdf rbx1.launch

Move the robot by publishing to the /rbx1_joint_controller/command topic:

rostopic pub  /rbx1_joint_controller/command std_msgs/Float64MultiArray "layout:
  dim:
  - label: ''
    size: 6
    stride: 1
  data_offset: 0
data: [0.1, 0.2, 0.3, 0.4, 0.5, 0.6]"

To move gripper use this command:

rostopic pub  /rbx1_gripper_controller/command std_msgs/Float64MultiArray "layout:
  dim:
  - label: ''
    size: 2
    stride: 1
  data_offset: 0
data: [1.0, -1.0]"