Arm Teleoperation - Universal Robot

Prerequisite and dependencies

• Install ROS
• Install ROS-Industrial
  sudo apt-get install ros-kinetic-industrial-core
sudo apt-get install ros-kinetic-universal-robot
• Install MoveIt!
• Downlaod and build cisst-saw, using catkin build tools in a seperate workspace, following instructions in the documentation. Go under sawUniversalRobot, check the git branch to be [devel], and compile again.
  Note: In this application, we use the sawUniversalRobot component to establish an interface that we can set velocities at 125 Hz.
• As a web-based implementation, ros web tool utilities are also needed if one wishes to run a teleoperation via a browser. The code is available at roamlab/teelop-ros-web-util. And rosbridge_server is needed, which can be installed:
  sudo apt-get install ros-kinetic-rosbridge-server
sudo apt-get install ros-kinetic-tf2-web-republisher
sudo apt-get install ros-kinetic-interactive-marker-proxy
sudo apt-get install ros-kinetic-web-video-server
sudo apt-get install ros-kinetic-video-stream-opencv

[Optional] Debuggin interface and tools

• Install iPython
  sudo apt-get install ipython
• Install ipdb for setting break point in command line ipython
  sudo apt-get install python-ipdb
• Install MoveIt
  sudo apt-get install ros-kinetic-moveit

Downlaod & Compiling

We are using catkin_make for this repo, and first, let's set up the workspace:

• mkdir -p catkin_ws/src
• cd catkin_ws
• catkin_make

Then, let's get the code (if this is the first time you download this repo):

• cd src
• git clone git@github.com:roamlab/arm_teleop_ur5.git --recursive
• cd arm_teleop_ur5
• bash update_repo.sh

Finally, to compile, since this repo depends on another catkin workspace, we need to overlay workspaces

• cd catkin_ws
• rm -rf build & rm -rf devel
• IMPORTANT source <cisst_catkin_ws/devel_release/setup.bash>
• catkin_make
  Note that if the first time catkin_make failed, try it again, it should succeed in the second time.

Running Instructions

Environment

Before running the code, you need to source and define env var:
source <teleop_catkin_workspace>/devel/setup.bash
export ARM_TELEOP_UR5_SRC="<src/arm_teleop_ur5>"
You may also choose to copy them at the end of your ~/.bashrc file

Check camera setup for teleoperation

• run
  ls -ltrh /dev/video*
• you should see at least two video sources, something like /dev/video[X], and they correspond to the video parameters video_stream_provider in the lannch file teleop_arm_hand_web.launch

Main script

run roslaunch teleop teleop_arm_hand_web.launch
Note: although the website interface include the control interface for a hand, you need to launch the hand ros program seperately. For example:
run roslaunch nasa_hand_robot nasa_hand_no_UI.launch
and see https://github.com/roamlab/nasa_hand for more details.

Camera Calibration

A camera is mounted on the end-effector (EE), and the frame offset between the camera and the EE needs calibrating for supervised autonomy. The calibration steps include:

• run the robot using teach pandent to a pose that the camera can see its base
• run roslaunch teleop camera_calibration.launch
• adjust the interactive marker such that the pointcloud of the robot base and the urdf rendering overlap
• copy the result output from the command line and input it in the config.cfg files