Doosan-RT

This repo contains steps for using the doosan-robot made by BryanStruurman

Update Cmake version to 3.9 or higher

cmake --version

Download V3.9.0 (File name is "Source code (tar.gz)")

https://github.com/Kitware/CMake/releases?page=14

Highly recommended to follow the video here

(http://embedonix.com/articles/linux/installing-cmake-3-5-2-on-ubuntu/)

In Terminal:

cd /opt
sudo wget https://github.com/Kitware/CMake/archive/refs/tags/v3.9.0.tar.gz
sudo tar -zxvf v3.9.0.tar.gz
sudo rm v3.9.0.tar.gz 
cd CMake-3.9.0/
sudo apt install openssl libssl-dev -y

Now edit bootstrap file (in VS code)

sudo code bootstrap

change cmake_options="-DCMAKE_BOOTSTRAP=1"

to cmake_options="-DCMAKE_BOOTSTRAP=1 -DCMAKE_USE_OPENSSL=ON"

In Terminal:

sudo apt install libqt4-dev qt4-dev-tools libncurses5-dev -y
sudo ./configure --qt-gui

Now edit file (in vs code)

code CMakeCache.txt 

Make sure: BUILD_QtDialog:BOOL=ON

In terminal:

sudo make -j8
sudo make install
cmake --version

Installing ROS Kinetic

Register the source list using the command below to access 'packages.ros.org'

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

Set the key to access the apt repository

sudo apt install curl # if you haven't already installed curl

curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

Update apt repository to use the latest package

sudo apt-get update

Install ros-kinetic-desktop-full package from apt repository.

• ROS,rqt,rviz,generic libraries, 2D/3D simulator, navigation, etc. in the package

    sudo apt-get install ros-kinetic-desktop-full
  

Modify bash file to autoadd environment variables to bash session everytime a new shell is launched

echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
source ~/.bashrc

Install a package to configure dependencies

sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential python3-rospkg

For installation of system dependencies with rosdep

sudo apt install python-rosdep

Inititalize and use rosdep

sudo rosdep init
rosdep update

package list

sudo apt-get install ros-kinetic-rqt ros-kinetic-moveit ros-kinetic-industrial-core ros-kinetic-gazebo-ros-control ros-kinetic-joint-state-controller ros-kinetic-effort-controllers ros-kinetic-position-controllers ros-kinetic-ros-controllers ros-kinetic-ros-control ros-kinetic-serial

packages for mobile robot (can skip)

sudo apt-get install ros-kinetic-lms1xx ros-kinetic-interactive-marker-twist-server ros-kinetic-twist-mux ros-kinetic-imu-tools ros-kinetic-controller-manager ros-kinetic-robot-localization

Install ros Kinetic Joint state publisher

sudo apt install ros-kinetic-joint-state-publisher-gui

Additional steps to run Bryans Stuurman's repo (depends on py3)

sudo apt-get install python3-catkin-pkg-modules
sudo apt-get install python3-rospkg-modules

build

Doosan Robot ROS Package is implemented at ROS-Kinetic.

### We recoomand the /home/<user_home>/catkin_ws/src
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
#catkin_init_workspace
#git clone --branch ros_control_compat https://github.com/BryanStuurman/doosan-robot
git clone --branch rt_feature https://github.com/VentionCo/vention_doosan.git
#git clone --branch robot-simulation-498 https://github.com/VentionCo/vention_doosan.git
#git clone --branch master https://github.com/doosan-robotics/doosan-robot.git
rosdep install --from-paths doosan-robot --ignore-src --rosdistro kinetic -r -y
cd ~/catkin_ws
catkin_make
source ./devel/setup.bash

Bryans repo

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
git clone https://github.com/BryanStuurman/serial.git
# Tiaga's Repo
#git clone --branch ros_control_compat https://github.com/BryanStuurman/doosan-robot
#Doosan's Repo
#git clone --branch master https://github.com/doosan-robotics/doosan-robot.git
#Vetnion Repo
git clone --branch rt_feature https://github.com/VentionCo/vention_doosan.git
cd ~/catkin_ws
colcon_make

Note:

Anytime you open a new terminal run the following command in you workspace

source ./devel/setup.bash

Test 1

roslaunch dsr_description h2017.launch 

At this step you should be able to jog the robot in RVIZ

Test 2

roslaunch dsr_launcher single_robot_rviz_gazebo.launch model:=h2017

In 2nd terminal (change robot model to h2017 in .py example file)

rosrun dsr_example_py single_robot_simple.py 

At this step the robot moves in rviz and gazebo

Test 3

roslaunch dsr_launcher single_robot_rviz_gazebo.launch host:=192.168.1.3 mode:=real model:=h2017

In terminal 2 (calling a service)

rosservice call /dsr01h2017/motion/move_joint

Change joint angle and set time to 5. Click enter and you would see the robot move in reality

Test 4

roslaunch dsr_launcher single_robot_rviz_gazebo.launch host:=192.168.1.3 mode:=real model:=h2017

In 2nd terminal (change the robot model in the .py example file)

rosrun dsr_example_py jog_simple.py 

At this step j1 of robot starts to rotate in ACW direction

Test 5

Moving the actual robot from moveit roslaunch dsr_launcher dsr_moveit.launch host:=192.168.1.3 mode:=real model:=h2017

Now just move in moveit, plan and then click execute. The robot should move as planned.

The robot executes the move as spline move.

Test 6 (worked for RT control)

roslaunch dsr_launcher dsr_moveit.launch host:=192.168.1.3 mode:=real model:=h2017
roslaunch dsr_control dsr_moveit.launch host:=192.168.1.3 mode:=real model:=h2017
roslaunch dsr_control dsr_control.launch host:=192.168.1.3 mode:=real model:=h2017
rosrun dsr_example_py realtime.py

Commands tocmake remove ROS

sudo apt-get remove ros-*

sudo apt-get purge ros-*

sudo apt-get autoremove

Useful ros commandline tools

http://wiki.ros.org/ROS/CommandLineTools

Requirements for creating venv

apt-get install python3-pip
sudo apt-get install python-catking-tools python3-dev python3-numpy
sudo apt-get install python-virtualenv
sudo apt-get install python3-empy

Creating venv for ros

mkdir -p catkin_ws/src
cd catkin_ws
virtualenv py3venv --python=python3
source py3venv/bin/activate

cd ~/catkin_ws/src
catkin_init_workspace
git clone --branch feature_rt_roscontrol https://github.com/BryanStuurman/doosan-robot