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SoftwareInstallation.md

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Software Installation (If you never used Anaconda, VSCode or Git):

Step 0 - Install Docker (https://www.docker.com/products/docker-desktop)

Step 1 - Install Git (https://git-scm.com/downloads) and clone the robots-gis repository using terminal or unzip it from usb file:

git clone https://github.com/GIS-EPFL/Robots.git

Step 2 - Install Anaconda (https://www.anaconda.com/products/distribution) and install it, during installation mark the option to add the path to the environment variables:

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Step 3 - run the Anacond Prompt terminal using Administrative rights

Step 4 - update conda

conda config --add channels conda-forge

Step 5 - using Anaconda Prompt write a series commands to create an environment:

conda create -c conda-forge -n robots-gis compas_rrc python=3.8

Step 6 - Install compas packages for rhino:

conda install COMPAS
conda activate robots-gis
python -m compas_rhino.install -v 7.0

Step 6 - install VSCode (https://code.visualstudio.com/download)

Step 7 - install Python and Docker extensions in VScode image

Step 8 - change default terminal to “Command Line”, type “Ctrl+Shift+P” and type “Select Default Shell” and select “Command Prompt”

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Step 9 - change the environment to “robots-gis”, type “Ctrl+Shift+P” and type “Python: Select Interpreter” and select “wood-dev”. Finally go to tests folder, open any file, right click on the canvas and click “Run Python file in Terminal”

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Step 10 - Open the folder of the "Robots" cloned from github on Visual Studio Code: image

Step11 - Open Docker for the first time and install WSL if needed:

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abb_irb_6700_track_irbt_6004 - Installation without the robot

  • Get the 💰 compas_rrc 💰 using Anaconda prompt:
conda create -c conda-forge -n robots-gis compas_rrc python=3.8

Check if Docker and URDF is working

  • Go to folder via Visual Studio Code: *Robots\robot_files\abb_irb_6700_track_irtb_6004\4_urdfs*

  • Open file and right click to compose up: docker-compose.yml

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  • Troubleshoot: if you have previous docker images running compose them down or use Docker desktop:

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How to move a robot? - Playgrounds

  • After opening the file: \Robots\robot_files\abb_irb_6700_track_irtb_6004\4_urdfs\abb_irb_6700_track_irtb_6004.gh , you should see a similar robot configuration:

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  • also try the IK setup constrained with linear axis: \Robots\robot_files\abb_irb_6700_track_irtb_6004\4_urdfs\abb_irb_6700_rrc_motion_planning.gh



abb_irb_6700_track_irbt_6004 - Installation with the robot

This is a documentation for the robot ABB IRB 6700 with a track motion IRBT 6004

How to connect to Robot - compas_rrc

  • Get the 💰 compas_rrc 💰 using Anaconda prompt:
conda create -c conda-forge -n robots-gis compas_rrc python=3.8
  • Connect with the Ethernet cable 💻 -> 🔌 -> 🤖

  • Configure 🌐 IP address of the pc matching the driver ip of the robot, with a different ending e.g. xxx.xxx.xxx.2 instead of 1:

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  • In teach pendant 🎮 click top right corner and click production window🎮 :

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  • In teach pendant 🎮 production window -> click PP to main 🎮 :

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  • In teach pendant 🎮 production window -> click PP to main -> click yes 🎮 :

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  • In teach pendant 🎮 production window -> click PP to main -> click yes -> hit play button 🎮 :

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  • In VSCode right click "compose-up", while the docker-compose.yml. Before doing that, be sure that previous docker instances are composed down 💻 use this file: \Robots\robot_files\abb_irb_6700_track_irtb_6004\2_docker\docker-compose.yml :

image

  • In teach pendant 🎮 this window must change to the next image 🎮 :

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  • In teach pendant 🎮 the new message should look like this, else you are not connected and see only the previous screenshot 🎮 :

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How to move a robot? - Playgrounds

Setup the VSCode interface:

  • In VSCode choose Command Prompt as a default profile (CTRL+SHIFT+P -> Terminal: Select Default Profile ) 💻
  • In VSCode select the correct python environment "robots-gis" (CTRL+SHIFT+P -> Python: Select Interpreter ) 💻
  • Right click on the Python code -> Run Python File in Terminal 💻

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Examples \Robots\robot_files\abb_irb_6700_track_irtb_6004\5_playgrounds\python

  • get current robot position and move by 100 mm in X-Axis get_and_move_to_target.py
  • get current robot position and rotate 1st axis by 15 degrees get_and_move_to_joints.py

Check if Docker and URDF is working

  • Go to folder via Visual Studio Code: \Robots\robot_files\abb_irb_6700_track_irtb_6004\4_urdfs

  • Open file and right click to compose up: docker-compose.yml

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  • Troubleshoot: if you have previous docker images running compose them down or use Docker desktop:

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  • After opening the file: \Robots\robot_files\abb_irb_6700_track_irtb_6004\4_urdfs\abb_irb_6700_track_irtb_6004.gh , you should see a similar robot configuration:

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