AIP Bringup Tutorial

Prequisites

For a detailed information to the Bring Up of the AIP application, please check out the AIP_Wiki, especially "How to start AIP".

Quick Start Instruction for AIP KUKA KR10 Robot

1. Establish communication

   • KUKA HMI (SmartPad) must be set in AUT-Mode for operation
   • EKI_HW_Interface file must be selected and running as active project
   • Please pay attention to the specified velocities!

2. Start RVIZ

   • Pay attention to the hardware flag
   • True = Actions will only be performed in RViz simulation
   • False = Actions will be performed on the physical KR10.

     # in aip_bringup docker 
     ros2 launch aip_cell_description aip.launch.py use_fake_hardware:=false robot_ip:=10.166.32.145

3. Start the Bosch Gripper node to enable gripper movements

   # in aip_bringup docker 
   ros2 run aip_bosch_gripper aip_bosch_gripper_node 

4. Execute the gripper via service calls from the command line

   # Service call for ROS node OpenGripper cylinder 1 and 2 
   ros2 service call /open_gripper iras_interfaces/srv/MoveGripper '{cylinder_ids: [1,2]}'

   # Service call for ROS node CloseGripper cylinder 1 and 2 
   ros2 service call /close_gripper iras_interfaces/srv/MoveGripper '{cylinder_ids: [1,2]}'

5. Start Behaviour Tree

   # in aip_coordinator docker
   ros2 launch aip_coordinator aip.launch.py
   
   # the to be executed behavior tree can be adjusted in the params.yaml file located in src/aip_coordinator/config/params.yaml

Testing

Move robot to pose

ros2 service call /move_to_pose iras_interfaces/srv/MoveToPose '{pose: {position: {x: 0.69, y: 0.66, z: 0.27}}, cart: True}'