Robothon 2023

This repo contains the instructions to run the framework developed for the Robothon Grand Challenge 2023.

Prerequisites

Check that the correct version of libfranka is installed:

cd ~/git/hrii_gitlab/robotics/franka/libfranka

If the selected branch is not "0.9.2" delete the build folder and execute this commands:

mkdir build
cd build
cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTS=OFF ..
cmake --build .

Note that to make the other hrii sw work you may need to recompile libfranka in the noetic-devel branch

Installation instructions

Install the hrii_task_board_fsm package and its dependencies within your catkin_ws source folder. To do so, first download the repos config file.

Then enter the following commands:

create_catkin_ws
git_import_repos robothon_repos.yaml
cd $WORKSPACE_TO_SOURCE
rosdep_src_install
cb_full

Usage

Test that everything works fine, launching the following command:

roslaunch hrii_task_board_fsm main_fsm.launch

# if you want to run a fake perception node
roslaunch hrii_task_board_fsm fake_perception.launch

Tips

In the file config/fsm/default_task_order.yaml you can select the task execution order. You can also define a customized file that will be ignored by git, just create it in the same folder under the name custom_task_order.yaml

To move the robot to a decent initial joint configuration run the command:

mon launch franka_example_controllers move_to_start.launch robot_ip:=192.168.0.102