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HOW-TO run experiments and use UR5 and other sensors

UR5 modern driver: improving usability as well as enabling compatibility of ros_control

roslaunch ur_modern_driver ur5_bringup.launch robot_ip:=192.168.0.101
roslaunch ur_modern_driver ur5_bringup.launch robot_ip:=192.168.1.101

moveit: planning capability

roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch

How to change initial position and orientation of UR5

  • manually move the robot via UR5 teach pendant

  • check rostopic echo /joint_states

  • copy the position to catkin_ws/src/experiments/script/move_robot_back_home.py

  • source your environment

source ~/devel/setup.bash

  • Run your python script

rosrun experiments move_robot_back_home.py

How to RUN experiment

Listener for the UR5

rosrun move_ur_sim desired_velocities_node

Main programs for experiments

rosrun calibrate_rgb_sensor_rustam ur5_nsh_experiment
rosrun calibrate_rgb_sensor_rustam velcontrol
rosrun calibrate_rgb_sensor_rustam light_touch

WEISS Sensor

weiss_kms40/launch/config.yaml

ping 192.168.1.30
source ~/rustamch/devel/setup.bash
roslaunch weiss_kms40 kms40.launch

if everything is ok:

[ INFO] [1632746849.394712440]: Trying to connect to KMS40 ...
[ INFO] [1632746849.395446253]: Connection established. Starting data acquisition.

see plot:

rqt -> matplot -> topic: /weiss_wrench/wrench/force/z

WITTENSTEIN Sensor

rosrun wittenstein wittenstein_main 
[ INFO] [1647871387.851390016]: *****Connecting*****

check:

rostopic echo /wittenstein_topic

potential problem of not connecting is access. To solve:

sudo chmod 666 /dev/ttyACM1
OR
sudo chmod 666 /dev/ttyACM0
OR another port

Rosbag write

  • create .msg message in /src/my_msgs/msg

  • CMakeLists.kz:

add_message_files(
  your_message.msg
)

bag to csv

rostopic echo -b myfile.bag -p /myfile > /home/rustam/catkin_ws/.../myfile.csv

Deleting repeating rows from csv

awk -F, 'seen[$3]++{print $0 > "dups.csv"; next}{print $0 > "new.csv"}' mycsv.csv

seen[$3]: which column we are looking at

dups.csv: all duplicates from mycsv.csv

new.csv: raw with unique column3 elements

https://stackoverflow.com/questions/25393281/linux-bash-commands-to-remove-duplicates-from-a-csv-file

Github process

token: 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

git init

git add processed10trials/csvmultipleplot.py OR git add processed10trials/

git commit -m "3rd commit"

git push -u origin_rustam main

ROSSERIAL

/home/rustam/snap/arduino/current/Arduino

rosrun rosserial_python serial_node.py _port:=/dev/ttyACM0 _baud:=115200
rosrun hallsensor hallsensor_listener
roslaunch rosserial_python hall_adxl.launch

Dynamixel node

rosrun dynamixel_sdk_examples read_write_node
rostopic pub -1 /set_position dynamixel_sdk_examples/SetPosition "{id: 1, position: 3400}"
rosservice call /get_position "id: 1"

Arduino message .msg to header .h

1. put .msg to /home/rustam/catkin_ws/src/rosserial/rosserial_arduino/msg/your_message.msg

2. /home/rustam/catkin_ws/src/rosserial/rosserial_arduino/CMakeList.txt:

add_message_files(FILES
  Adc.msg
  hallsensor.msg
  hallsensor_teensy.msg
  your_new_message.msg
)

3. catkin build

4. run make_library script:

rosrun rosserial_arduino make_library.py <arduino_library_path> <message_pkg_name>

<arduino_library_path> : is the absolute path to the Arduino library.

<message_pkg_name> : is the name of the precompiled package containing your custom crazy_msg.

example:

rosrun rosserial_arduino make_libraries.py /home/rustam/Arduino/libraries /home/rustam/Arduino/libraries/rosserial_arduino

A new ros_lib folder is created where all compiled libraries

No difference with: rosrun rosserial_arduino make_libraries.py /home/rustam/Arduino/libraries

MATLAB

https://www.mathworks.com/matlabcentral/answers/20-how-do-i-make-a-desktop-launcher-for-matlab-in-linux