Dual arm tutorial for ROS2 #3
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- Add ros2 control tags/parameters for each robot arm - Some parameters are specific to each arm and some common to both - Ports and IP different for each arm - RTDE scripts, mock hardware, headless mode common to the arms
- Instantiates one controller manager for both arms and passes the controller configs and update rate - Receives the robot_description param from the robot_description_topic (robot_state_publisher) - Does not yet implement io_and_status_controller and forward_velocity_controller - Has functionality to spawn and stop controllers for both arms - Only works in simulation and not with real hardware - Limited number of launch parameters as of now
…Universal_Robots_ROS2_Tutorials into dual_arm_tutorials
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First, Thank you for your contribution. |
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@eladpar, I recommend ensuring you pass all the parameters for ros2_control for both arms in your description. In the Humble version of ur_description, the ur_macro.xacro contains the ros2_control tags, unlike in Rolling. Once you have configured these parameters, you can refer to the my_dual_robot_cell/my_dual_robot_cell_control/config/combined_controllers.yaml file, which defines controllers for both arms. In your driver launch file, try spawning the controllers using only the ros2_control_node (comment out everything else). Once that works, you can continue testing and gradually add all the other nodes and functions. |
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@fmauch Once this PR has been merged do you think we can make a branch for humble? I'd be willing to make the tutorials. |
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Tried today operating the 2 robots with ros2 rolling ubuntu 24.
ros2 launch my_dual_robot_cell_control start_robots.launch.py alice_ur_type:=ur16e bob_ur_type:=ur16e alice_robot_ip:=192.168.1.102 bob_robot_ip:=192.168.1.103 but seems like when I try to run the program on the UR pendent It gets stuck at starting program, and this is the messege I get on pc:
ros2 launch my_dual_robot_cell_control start_robots.launch.py alice_ur_type:=ur16e bob_ur_type:=ur16e alice_robot_ip:=192.168.1.102 bob_robot_ip:=192.168.1.103 headless_mode:=true |
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@fmauch Can you suggest how I can write the docs (reST documentation). Do you have a Sphinx workflow for the same? |
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Sorry for not coming back on this earlier. I appreciate your efforts very much @ShahhhVihaan. I'll review this bit by bit in order to make it easier to find time slots for reviewing.
So far, I have been looking a the description which looks very good, overall. Please see my comments on suggestions for improvements.
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I think it might be good, to re-use the files from the custom_workcell. Simply add a dependency on my_custom_workcell and reference the files from there.
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| <author email="[email protected]">Felix Durchdewald</author> |
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Maybe you would like to add yourself there, instead of Felix Durchdewald ;-)
| <joint name="base_to_alice_robot_mount" type="fixed"> | ||
| <parent link="table"/> | ||
| <child link="alice_robot_mount"/> | ||
| <origin xyz="0.3 0.85 0" rpy="0 0 ${pi}" /> |
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Maybe the placement isn't ideal since it is right behind the computer screen on the table.
This draft PR addresses issue #1 regarding a dual arm example setup. It introduces three packages that perform the following functions:
This has been tested successfully on two UR3 arms. Here's the ROS graph for the same:
I need to clean up the packages and write tutorial documentation before it is ready to merge.