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Note: This tutorial assumes that you have completed the previous tutorials: Industrial/Tutorials/Create_a_Arm_Nav_Pkg_for_an_Industrial_Robot, Industrial/Tutorials/Create_a_MoveIt_Pkg_for_an_Industrial_Robot.
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Verifying a new robot package (Implementation Notes)

Description:

Keywords: ArmNavigation MoveIt

Tutorial Level: ADVANCED

New Robot Verification Steps

This procedure should be used whenever connecting to a robot for the first time. For the most part these steps are included in the two tutorials above. They are summarized here for convenience.

Virtual Robot Verification

  1. Interact within rviz to verify the URDF is set up properly:
    1. roslaunch urdf_tutorial display.launch model:=<robot.urdf> gui:=True

    2. move the joint-sliders to verify the robot moves correctly
    3. especially check that the joint directions (pos vs. neg motion) and zero position are correct
  2. Run the planning scene in simulation mode to verify the arm_navigation (or moveit) package is configured correctly
    1. Launch the warehouse package
      1. Arm Navigation:roslaunch <robot>_arm_navigation planning_scene_warehouse_viewer_<robot>.launch

      2. Move It:roslaunch <robot>_moveit_config demo.launch

    2. try planning a trajectory and executing it. The virtual robot should move.

Real Robot Verification

  1. Run the robot interface nodes to verify connectivity with the robot:
    1. roslaunch industrial_robot_client robot_interface.launch robot_ip:=<your robot’s IP address> (Note: If you robot requires a vendor specific robot_interface then use that one instead).

    2. rostopic echo joint_states (should match the robot’s joint positions)
  2. Verify the planning scene environment matches the phsycial robot and it's surroundings.
    1. Arm Navigation: roslaunch myRobot_arm_navigation planning_scene_warehouse_viewer_myRobot_real.launch (This file is made manually in the Industrial arm navigation tutorial, actual usage may vary)

    2. Move It: roslaunch <robot_name>_moveit_config moveit_planning_execution.launch sim:=false robot_ip:=<robot's IP> (This file is made manually in the Industrial moveit tutorial, actual usage may vary)

    3. jog the physical robot around, and verify that the rviz model mirrors the physical robot correctly.
    4. make sure and test every joint, and check for unusual cases: wrap-around joints, limits, coupled-joints, etc.
  3. Execute a planned trajectory on the physical robot
    1. plan a trajectory in rviz pick something “safe”, like a small motion of joint 6.
    2. if the trajectory looks good, execute on the real robot


2018-06-18 22:56