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43
README.md
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@ -3,7 +3,7 @@
## Description
This repository provides an interface that connects OSC with ROS 2. It allows coltroling robotic manipulators using OSC messages.
This repository provides an interface that connects OSC with ROS 2. It allows controlling robotic manipulators using OSC messages.
---
@ -28,13 +28,13 @@ Run the test container:
docker run --rm hello-world
```
In this repository there are three folders, two of them are docker containers. The first docker container to be installed will be the [`URSim`](./URSim) docker container. A docker container consists of a file describing what the operating system of the docker container looks like (and from which docker container it is derived). Our URSim docker container is derived from the latest [`e-series`](https://hub.docker.com/r/universalrobots/ursim_e-series) URSim container. The only modification added to it is the installtion of the [`external-control`](https://github.com/UniversalRobots/Universal_Robots_ExternalControl_URCap) urcaps. All this is stated in [`URSim/Dockerfile`](./URSim/Dockerfile).
In this repository there are three folders, two of them are Docker containers. The first Docker container to be installed will be the [`URSim`](./URSim) Docker container. A Docker container consists of a file describing what the operating system of the Docker container looks like (and from which Docker container it is derived). Our URSim Docker container is derived from the latest [`e-series`](https://hub.docker.com/r/universalrobots/ursim_e-series) URSim container. The only modification added to it is the installation of the [`external-control`](https://github.com/UniversalRobots/Universal_Robots_ExternalControl_URCap) urcaps. All this is stated in [`URSim/Dockerfile`](./URSim/Dockerfile).
The Second docker container in this repository is the [`ROS2_humble`](./ROS2_humble) container. From its name it contains the ROS2 operating system and environment. Its [`Dockerfile`](./ROS2_humble/Dockerfile) is also relatively simple. It iterates over the [`ros-humble-desktop-full`](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver) container by installing the [`ros-humble-ur`](https://hub.docker.com/r/osrf/ros/tags?name=humble-desktop-full) package as well as other utilities for network scanning ([`nmap`](https://nmap.org/)), text editing ([`neovim`](https://neovim.io/)) and terminal multiplexing ([`tmux`](https://github.com/tmux/tmux/wiki)).
The second Docker container in this repository is the [`ROS 2_Humble`](./ROS 2_Humble) container. From its name it contains the ROS 2 operating system and environment. Its [`Dockerfile`](./ROS 2_Humble/Dockerfile) is also relatively simple. It iterates over the [`ros-humble-desktop-full`](https://github.com/UniversalRobots/Universal_Robots_ROS 2_Driver) container by installing the [`ros-humble-ur`](https://hub.docker.com/r/osrf/ros/tags?name=humble-desktop-full) package as well as other utilities for network scanning ([`nmap`](https://nmap.org/)), text editing ([`neovim`](https://neovim.io/)) and terminal multiplexing ([`tmux`](https://github.com/tmux/tmux/wiki)).
# Usage
# Starting the Docker containers
To start using these docker containers together a bridge network must be established first.
To start using these Docker containers together a bridge network must be established first.
```bash
docker network create ros_ursim # The name of the network is `ros_ursim`
@ -50,10 +50,10 @@ docker build -t ursim:latest URSim
This command builds the container defined in [`URSim/Dockerfile`](./URSim/Dockerfile) with the `ursim:latest` tag, so that we can easily run it later.
The same can be done for the ROS2_humble container
The same can be done for the ROS 2_Humble container
```bash
docker build -t ros2_humble:latest ROS2_humble
docker build -t ros2_humble:latest ROS 2_Humble
```
After all the containers are successfully built and the bridge network is established we can now start both containers. On one terminal run the following command to start the URSim container
@ -87,11 +87,11 @@ With both containers running we can now open the URSim interface on any browser
http://localhost:6080/vnc.html
```
It should now open the `VNC` interface with a big `connect` button. Press the connect button and you should be able to see the UR10e teachpendant interface. Add a payload of 0.5 kg and start the robot. Now we must enable ROS2 to control this. Go to `New...`>`Program` to create a new program for the robot. Within this program, click on `URCaps`>`External Control` to allow control from outside the simulation. Under `Installation`>`URCaps`>`External Control`, input the IP address of the ROS2 container and give it a name (ROS perhaps).
It should now open the `VNC` interface with a big `connect` button. Press the connect button and you should be able to see the UR10e teachpendant interface. Add a payload of 0.5 kg and start the robot. Now we must enable ROS 2 to control this. Go to `New...`>`Program` to create a new program for the robot. Within this program, click on `URCaps`>`External Control` to allow control from outside the simulation. Under `Installation`>`URCaps`>`External Control`, input the IP address of the ROS 2 container and give it a name (ROS perhaps).
Save this program so you don't have to repeat these steps, but don't run it yet as we have not initiated ROS2 communication.
Save this program so you don't have to repeat these steps, but don't run it yet as we have not initiated ROS 2 communication.
In the ROS2 container, source the ROS2 environment.
In the ROS 2 container, source the ROS 2 environment.
```
source /opt/ros/humble/setup.bash
```
@ -103,7 +103,7 @@ ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur10e robot_ip:=<ur.co
Now, from the VNC interface, we can start the external control program by clicking on the play button in the bottom right of the screen.
To run other ROS2 programs to send commands to the UR10e, we must use a third terminal and access the ROS2 container again. First we must find the container ID of our ROS2 container.
To run other ROS 2 programs to send commands to the UR10e, we must use a third terminal and access the ROS 2 container again. First we must find the container ID of our ROS 2 container.
```
docker ps
@ -115,17 +115,18 @@ Use the appropriate container ID to launch bash within that container. We need t
docker exec -it <container_id> /bin/bash
```
Once inside, we again must source the ROS2 environment
Once inside, we again must source the ROS 2 environment
```
source /opt/ros/humble/setup.bash
```
Finally, we can run ROS2 scripts to control the robot. For example
Finally, we can run ROS 2 scripts to control the robot. For example
```
ros2 launch ur_robot_driver test_scaled_joint_trajectory_controller.launch.py
```
If everything worked, this should either move the robot or complain about it being in a strange position.
---
## Installation Instructions for the Interface
@ -218,15 +219,22 @@ The interace asks for workspace and end-effector limits only if a URDF was provi
Now you can also add joint limits. If you have a URDF provided the current joint limits will be shown. You can enter new joint limits if you want. For the ur10e at the Ligeti Center it is helpfull to set the joint limits of
## Refresh Rate
Enter the refreshrate. This is the rate at which the interface will check for new OSC commands and executes them.
---
# Usage
## Supported OSC Commands
| Address | Data Format | Description |
|-------------------------------|-----------------------------------------------------------|----------------------------------------|
| `/joint_positions` | `[q1, ..., qN]` or `[q1, ..., qN, duration]` | Move all joints |
| `/joint_positions/{joint}` | `q1` or `[q1, duration]` | Set one joint only |
| `/joint_position/{joint}` | `q1` or `[q1, duration]` | Set one joint only |
| `/tcp_coordinates` | `[x, y, z, roll, pitch, yaw]` or with duration | Move to Cartesian pose |
| `/joint_trajectory` | `[[q1,...], [q2,...], ...]` | Follow a joint-space trajectory |
| `/cartesian_trajectory` | `[[x1,...], [x2,...], ...]` | Follow a Cartesian-space trajectory |
@ -236,11 +244,10 @@ Now you can also add joint limits. If you have a URDF provided the current joint
## Example Usage
An example patch in puredata is provided that allows the user to control a 6-DOF robot with sliders via OSC.
An example patch in puredata is provided that allows control of a 6-DOF robot with sliders via OSC.
---
[^1]: [What is Docker?](https://docs.docker.com/get-started/)
[^2]: [WSL2 & Docker Networking](https://stackoverflow.com/questions/65426891)
[^3]: [USB Device in Docker](https://stackoverflow.com/questions/46467295)
[^4]: [Cisco VPN and WSL2](https://github.com/Microsoft/WSL/issues/4277)
[^3]: [Cisco VPN and WSL2](https://github.com/Microsoft/WSL/issues/4277)

38
workspace/src/osc_ros2/osc_ros2/osc_ros2.py
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@ -349,10 +349,12 @@ class OSC_ROS2_interface(Node):
"""Handles incoming OSC messages for joint positions."""
try:
joint_name = address.split("/")[-1]
if joint_name in self.joint_names:
if len(args) == 1:
position = float(args[0])
index = self.joint_names.index(joint_name)
if self.robot:
if position < self.robot.qlim[0][index]:
position = self.robot.qlim[0][index]
self.get_logger().warn(
@ -363,6 +365,17 @@ class OSC_ROS2_interface(Node):
self.get_logger().warn(
f"joint_position_handler: Joint '{joint_name}' position {position} is out of bounds. Using {self.robot.qlim[1][index]}."
)
else:
if self.joint_lim[0][index] is not None and position < self.joint_lim[0][index]:
position = self.joint_lim[0][index]
self.get_logger().warn(
f"joint_position_handler: Joint '{joint_name}' position {position} is out of bounds. Using {self.joint_lim[0][index]}."
)
elif self.joint_lim[1][index] is not None and position > self.joint_lim[1][index]:
position = self.joint_lim[1][index]
self.get_logger().warn(
f"joint_position_handler: Joint '{joint_name}' position {position} is out of bounds. Using {self.joint_lim[1][index]}."
)
desired_joint_positions = self.current_joint_positions
desired_joint_positions[index] = position
self.desired = ["joint_positions"] + desired_joint_positions
@ -371,6 +384,7 @@ class OSC_ROS2_interface(Node):
position = float(args[0])
duration = float(args[1])
index = self.joint_names.index(joint_name)
if self.robot:
if position < self.robot.qlim[0][index]:
position = self.robot.qlim[0][index]
self.get_logger().warn(
@ -381,6 +395,17 @@ class OSC_ROS2_interface(Node):
self.get_logger().warn(
f"joint_position_handler: Joint '{joint_name}' position {position} is out of bounds. Using {self.robot.qlim[1][index]}."
)
else:
if self.joint_lim[0][index] is not None and position < self.joint_lim[0][index]:
position = self.joint_lim[0][index]
self.get_logger().warn(
f"joint_position_handler: Joint '{joint_name}' position {position} is out of bounds. Using {self.joint_lim[0][index]}."
)
elif self.joint_lim[1][index] is not None and position > self.joint_lim[1][index]:
position = self.joint_lim[1][index]
self.get_logger().warn(
f"joint_position_handler: Joint '{joint_name}' position {position} is out of bounds. Using {self.joint_lim[1][index]}."
)
desired_joint_positions = self.current_joint_positions
desired_joint_positions[index] = position
self.desired = ["joint_positions"] + desired_joint_positions + [duration]
@ -413,6 +438,7 @@ class OSC_ROS2_interface(Node):
return
# Check if joint positions exceed limits
if self.robot:
for i, position in enumerate(desired_joint_positions[:len(self.joint_names)]): # Exclude duration if present
if position < self.robot.qlim[0][i]:
desired_joint_positions[i] = self.robot.qlim[0][i]
@ -424,6 +450,18 @@ class OSC_ROS2_interface(Node):
self.get_logger().warn(
f"joint_positions_handler: Joint '{self.joint_names[i]}' position {position} is out of bounds. Using {self.robot.qlim[1][i]}."
)
else:
for i, position in enumerate(desired_joint_positions[:len(self.joint_names)]):
if self.joint_lim[0][i] is not None and position < self.joint_lim[0][i]:
desired_joint_positions[i] = self.joint_lim[0][i]
self.get_logger().warn(
f"joint_positions_handler: Joint '{self.joint_names[i]}' position {position} is out of bounds. Using {self.joint_lim[0][i]}."
)
elif self.joint_lim[1][i] is not None and position > self.joint_lim[1][i]:
desired_joint_positions[i] = self.joint_lim[1][i]
self.get_logger().warn(
f"joint_positions_handler: Joint '{self.joint_names[i]}' position {position} is out of bounds. Using {self.joint_lim[1][i]}."
)
self.desired = ["joint_positions"] + desired_joint_positions
self.new = True