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Automate2024_Demo.md

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Automate 2024 Demo

Robot IP: 192.168.60.116

Portrait Demo

Launching Camera

  1. Launch ATI ft sensor RR service. Open a terminal.
cd ~/Desktop/ati
source run_sensor.sh
  1. Launch camera and face tracking RR service. Open a terminal.
cd ~/Desktop/robot_portrait/face_tracking
python3 face_tracking_service.py
  1. Launch the portraiting script. Open a terminal
cd ~/Desktop/robot_portrait
python3 integrated_client_fb.py

There will be a pop up window and the robot will start operating. The robot will continuously writing RPI x ABB before doing the next step.

Make sure there's to ABB RR service running before launching the script.

  1. (Optional) Test if the ATI ft sensor is working. Open a terminal
cd ~/Desktop/ati
python3 test_ati_client.py

When a visitor comes

  1. Ask the visitor to stand on the preparation postion and face the robot.
  2. Click continue on the pop up window on PC.
  3. The robot will finish the current stroke, going to the standby position, and start face tracking.
  4. When the robot goes down, this means the image is taken and the visitor can leave the standby position.

Trouble shoot

  1. When drawing, the robot touch the tablet and leave without drawing

Solution: This is because the ft sensor RR service is disconnected, and the safety mecghanism is activated. You need to shutdown both ft sensor RR service and the portrait script and restart them.

  1. There's error in the ft sensor terminal.

Solution: This is the same issue as issue 1. Refer to the item.

Calibration

Rough Calibration using Aruco Tag

  1. Launch camera (and face tracking, they are in the same script) RR service. Open a terminal.
cd ~/Desktop/robot_portrait/face_tracking
python3 face_tracking_service.py
  1. Launch the Aruco tag RR service. Open a terminal.
cd ~/Desktop/robot_portrait/face_tracking
python3 aruco_service.py
  1. Launch the ABB robot RR service. Open a terminal
    cd ~/Desktop/abb_driver_csharp-2024-01-02
source run_driver.sh
  1. Launch the calibration script. Open a terminal
cd ~/Desktop/robot_portrait
source calibration.sh

  1. Turn on the tablet and open the notebook with the aruco tag.

  2. Jog the robot with the gui such that the aruco tag is about in the center of field of view of the camera with not too much skew.

  3. Click use aruco on the panel. A pop up window will show and click Continue.

Refined Calibration using Force Feedback

  1. Leave everything on in the previous part. You can turn off Aruco tag RR service and camera RR service if you want to.

  2. Launch ATI ft sensor RR service. Open a terminal.

cd ~/Desktop/ati_robotraconteur_driver
source run_sensor.sh
  1. Launch the refined calibration script. Open a terminal
python3 recalibration_force.py

  1. Press Enter and the robot will jog to the corner. Press Enter again for the robot to press on the corner for calibration refinement.

  2. Important: Always look out the ATI service to see if it's still on. If the ATI service throws an error, E-Stop the robot immediately.

  3. The robot will finish the refinement once all 4 corners are tabbed.

  4. It's always a good idea and safe to supervise the robot motion when the robot is pressing toward the tablet. E-Stop the robot when ever an unexpected motion occurs.