Armstron

This ROS package and associated GUI make use of the 6-axis force/torque sensor on the Universal Robot e-series to apply complex loads to things. We can essentially perform tests similar to an Instron Uniaxial Testing machine, but in all axes.

Installation

1. Set up your robot arm for use with the Universal_Robots_ROS_Driver.
   • Clone the package to the src folder of your catkin workspace
   • Follow instructions in the ur_robot_driver/doc folder.
   • Be sure to create a calibration package for your robot per these instructions. In this example, we have created a package called "ur_user_calibration" with a dedicated launch file "bringup_armando.launch" where the IP address of the robot is set.
2. Set up this package
   1. Clone the simple_ur_move package to the src folder of your catkin workspace
   2. Clone this package (armstron) to the src folder of your catkin workspace
   3. In the root folder of your workspace, install dependencies:
      • rosdep install --from-paths src --ignore-src -r -y
   4. Navigate to the armstron package folder and install a few extra non-ROS python requirements:
      • cd src/armstron/armstron
      • pip install -r requirements.txt
   5. Navigate back to the workspace folder, and build your workspace (catkin_make)
3. Set up the runfile (so you can run Armstron as though it is a regular application)
   1. Navigate to the armstron top level folder:
      • cd src/armstron
   2. Generate the run files
      • sudo bash armstron/bash/generate_desktop.sh [ROBOT PACKAGE] [ROBOT LAUNCH FILE]
      • For example: sudo bash armstron/bash/generate_desktop.sh ur_user_calibration bringup_armando.launch
   3. Now you can run Armstron with one click by going to your application menu (Super + A) and choosing "Armstron".

Usage

Bringup the robot

1. (Teach Pendant) Turn on the robot, and get into manual mode.
2. (Teach Pendant) Start the robot (tap the small red dot on the bottom left corner)

Start Armstron

1. (Host Computer) Choose "Armstron" from your application menu (Super + A).
   • This starts communication with the robot arm, starts the Armstron test server, and starts the Armstron GUI.
2. Use the GUI to load/build test profiles, set data save locations.
3. Run tests
   1. (Teach Pendant) Move the arm around manually to set things up.
   2. (Teach Pendant) Once you are ready to test, run the "EXTERNAL_CONTROL.urp" program. (press "play" in the bottom bar)
   3. (Host Computer) Run a test using the "Run Test" button.

Advanced Usage

Since everything is modular, you can run each part of the Armstron software stack as independent ROS processes. This is useful for debugging purposes

Bringup the robot

1. (Teach Pendant) Turn on the robot, get into manual mode, then load the "EXTERNAL_CONTROL.urp" program.
2. (Teach Pendant) Start the robot (tap the small red dot on the bottom left corner)
3. (Host Computer) (new terminal): roslaunch ur_user_calibration bringup_armando.launch

Use the Armstron test server

1. (Host Computer) Start the test server (new terminal): roslaunch armstron bringup_testing.launch
2. Setup the robot
   1. (Teach Pendant) Move the arm around manually to set things up.
   2. (Teach Pendant) Once you are ready to test, run the "EXTERNAL_CONTROL.urp" program. (press "play" in the bottom bar)
3. (Host Computer) Start a test (new terminal):

    roslaunch armstron run_test.launch config:="ceti_pull_test.yaml" save:="~/armstron_data/testing_launch.csv"
    roslaunch armstron run_test.launch config:="ceti_force_hold.yaml" save:="~/armstron_data/testing_launch.csv"

Start the GUI

1. (Host Computer) Start the test server (new terminal): roslaunch armstron bringup_testing.launch
2. (Host Computer) Start the Armstron GUI (new terminal): rosrun armstron gui.py

Useful commands for debugging

• Show the controller manager: rosrun rqt_controller_manager rqt_controller_manager
• Enable sending of single messages
  • rqt
  • Go to Plugins >> Topics >> Message Publisher