This repo is meant as a collaborative digital platfrom to exchange files and tools among GIS labs to control ABB Robots in GIS facilities, in particular using COMPAS_RRC

Setting up Compas RRC

1. Install Anaconda

2. Create a Conda environment, and Install COMPAS, COMPAS_FAB & COMPAS_RRC using Conda

• in terminal [mac] / anaconda prompt [win]: Creating the environment and installing COMPAS, COMPAS_FAB & COMPAS_RRC

(base) conda create -n rrcgis -c conda-forge python=3.8 compas
(base) conda install -n rrcgis python=3.8 compas_fab
(base) conda install -n rrcgis python=3.8 compas_rrc

• Activating the environment (base) conda activate rrcgis
• Verifying installation (rrcgis) python -m compas

3. Add the Compas libraries to Rhino’s Python paths

• in terminal (rrcgis) python -m compas_rhino.install -v 7.0

• in Rhino (after restart if opened): _EditPythonScript, import compas_fab and run to verifying installation

_Grasshopper Check the presence of a COMPAS FAB tab

4. Install Visual Studio Code + Docker and compose up the image file

• Download & Install Visual Studio Code
• Download & Install Docker Desktop

NOTE: After installation on Windows, it is normally required to enable Virtualization on the BIOS of the computer.

• Start Docker Desktop
• In Visual Studio Code, right click on the appropriate docker compose image, and compose up

5. Open the Robot Playground grasshopper file

• Open the file ABB_GoFa_robot_playground_RRCGIS_01.gh located in RRC-GIS/10_playgrounds/
• Connect to ROS (Docker) and Load the robot
• Explore forward kinematics, inverse kinematics, and pick & place