v3.0.0

.gitignore

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+*.pyc
+*.swp
+urdf.rviz
+node_modules/
+/CMakeLists.txt
+tmp_blockly/
+tmp_code_to_execute/
+.vscode
+*.egg-info
+*__pycache__
+.idea/*
+venv
+
+_build/
+.pytest_cache/
+
+/dev/

README.md

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+# Ned ROS stack
+
+Licensed under GPLv3 (see [LICENSE file](LICENSE))
+
+This repository contains all ROS packages used on Ned robot (Raspberry Pi 4B - Ubuntu server 18.04.5 for ARM).
+## Ned ROS Stack overview
+
+Here's a global overview of Ned ROS Stack :
+
+![Ned ros stack - global overview](https://niryo.com/wp-content/uploads/github/ned_global_overview.jpg)
+## How to use Ned with a graphical interface ?
+
+You can [download Niryo Studio](https://niryo.com/download/?utm_source=github) (Linux, Windows and MacOS compatible).
+
+## Documentation link
+
+You can find the whole generated documentation of this project at [Niryo Documentation](https://niryo.com/)

niryo_robot_bringup/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(niryo_robot_bringup)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+

niryo_robot_bringup/launch/desktop_gazebo_simulation.launch

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+<!-- This launch file allows to run simulation on Gazebo
+Warning : Some errors are present in Gazebo
+-> It will log some errors because it cannot unload joint_controller (It's because ROS does it before Gazebo)
+-> Gazebo GUI is kinda bad on closing. It will always run into SIGTERM. So, what you should do is
+to change _TIMEOUT_SIGINT value in the file /opt/ros/melodic/lib/python2.7/dist-packages/roslaunch/nodeprocess.py
+This will reduce the amount of time spent waiting during program shutdown
+-->
+<launch>
+    <!-- Arguments definition -->
+    <arg name="gripper_n_camera" default="true"/>
+    <arg name="gui" default="true"/>
+    <arg name="hardware_version" value="ned"/>
+
+    <!-- Load URDF -->
+    <arg name="urdf_path" value="urdf/$(arg hardware_version)/niryo_$(arg hardware_version)_gripper1_n_camera.urdf.xacro" if="$(arg gripper_n_camera)"/>
+    <arg name="urdf_path" value="urdf/$(arg hardware_version)/niryo_$(arg hardware_version)_gazebo.urdf.xacro" unless="$(arg gripper_n_camera)"/>
+
+    <param name="robot_description"
+        command="$(find xacro)/xacro $(find niryo_robot_description)/$(arg urdf_path)"/>
+
+    <param name="robot_description_tf2"
+        command="$(find xacro)/xacro $(find niryo_robot_description)/$(arg urdf_path)"/>
+
+    <!-- Define most of ROS parameters -->
+    <include file="$(find niryo_robot_bringup)/launch/niryo_robot_base_simulation.launch.xml">
+        <arg name="simu_gripper" value="$(arg gripper_n_camera)"/>
+        <arg name="gazebo" value="true"/>
+    </include>
+
+    <!-- Launching Gazebo World -->
+    <include file="$(find niryo_robot_gazebo)/launch/niryo_robot_gazebo_world.launch.xml">
+        <arg name="gui" value="$(arg gui)"/>
+    </include>
+
+    <!-- Launching vision if the user didn't swap camera arg to false -->
+    <include file="$(find niryo_robot_vision)/launch/vision_node.launch" if="$(arg gripper_n_camera)">
+        <arg name="simulation_mode" value="true"/>
+    </include>
+        <param name="/niryo_robot_vision/initialized" type="bool" value="true" unless="$(arg gripper_n_camera)"/>
+
+</launch>

niryo_robot_bringup/launch/desktop_rviz_simulation.launch

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+<launch>
+    <!-- Arguments definition -->
+    <arg name="gui" default="true"/>
+    <arg name="hardware_version" value="ned"/>
+
+    <!-- Load URDF -->
+    <arg name="urdf_path" value="urdf/$(arg hardware_version)/niryo_$(arg hardware_version).urdf.xacro"/>
+
+    <param name="robot_description"
+           command="$(find xacro)/xacro $(find niryo_robot_description)/$(arg urdf_path)"/>
+
+    <param name="robot_description_tf2"
+           command="$(find xacro)/xacro $(find niryo_robot_description)/$(arg urdf_path)"/>
+
+
+    <!-- Define most of ROS parameters -->
+    <include file="$(find niryo_robot_bringup)/launch/niryo_robot_base_simulation.launch.xml">
+    </include>
+
+    <group if="$(arg gui)">
+        <!-- Launching Rviz -->
+        <node name="rviz" pkg="rviz" type="rviz" args="-d $(find niryo_robot_description)/config/default_config.rviz"/>
+    </group>
+
+    <group ns="niryo_robot/info">
+        <param name="/niryo_robot_vision/initialized" type="bool" value="true"/>
+    </group>
+</launch>

niryo_robot_bringup/launch/niryo_ned_robot.launch

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+<launch>
+    <!-- Arguments definition -->
+    <arg name="iot_enabled" default="false"/>
+    <arg name="debug" default="false"/>
+
+    <include file="$(find niryo_robot_bringup)/launch/niryo_robot_base_robot.launch.xml">>
+        <arg name="iot_enabled" value="$(arg iot_enabled)"/>
+        <arg name="debug" value="$(arg debug)"/>
+    </include>
+</launch>

niryo_robot_bringup/launch/niryo_robot_base_common.launch.xml

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+<launch>
+    <!-- Arguments -->
+    <arg name="gazebo" default="false"/>
+    <arg name="hardware_version" value="ned"/>
+    <arg name="simu_gripper" default="false"/>
+    <arg name="simulation_mode" default="false"/>
+    <arg name="debug" default="false"/>
+
+    <!-- SHARED PARAMS -->
+    <group ns="niryo_robot">
+        <param name="hardware_version" type="str" value="$(arg hardware_version)"/>
+        <param name="reboot_when_auto_change_version" type="bool" value="true"/>
+        <param name="simulation_mode" type="bool" value="$(arg simulation_mode)"/>
+    </group>
+
+    <group ns="niryo_robot/info">
+        <param name="robot_type" type="string" value="niryo_$(arg hardware_version)" />
+        <param name="ros_version" type="string" command="rosversion niryo_robot_bringup"/>
+    </group>
+
+    <group ns="niryo_robot/python_ros_wrapper">
+        <param name="service_timeout" type="int" value="2"/>
+        <param name="action_connection_timeout" type="int" value="20"/>
+        <param name="action_execute_timeout" type="int" value="60"/>
+        <param name="action_preempt_timeout" type="int" value="60"/>
+    </group>
+
+    <arg name="ros_version" value="$(optenv ROS_DISTRO kinetic)"/>
+
+    <!-- Launching TF ROS Bridge-->
+    <node name="tf2_web_republisher" pkg="tf2_web_republisher" type="tf2_web_republisher"/>
+    <include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch">
+        <arg name="port" value="9090"/>
+         <arg name="output" value="log" unless="$(eval 'kinetic' == arg('ros_version'))"/>
+    </include>
+
+    <!-- Including launch files -->
+
+    <include file="$(find niryo_robot_hardware_interface)/launch/controllers.launch">
+        <arg name="gazebo" default="$(arg gazebo)"/>
+        <arg name="simu_gripper" default="$(arg simu_gripper)"/>
+        <arg name="simulation_mode" default="$(arg simulation_mode)"/>
+        <arg name="debug" value="$(arg debug)"/>
+    </include>
+
+    <include file="$(find niryo_robot_commander)/launch/robot_commander.launch">
+        <arg name="simu_gripper" value="$(arg simu_gripper)"/>
+    </include>
+
+    <include file="$(find niryo_robot_poses_handlers)/launch/poses_handlers.launch">
+        <arg name="simulation_mode" value="$(arg simulation_mode)"/>
+    </include>
+
+    <include file="$(find niryo_robot_programs_manager)/launch/programs_manager.launch">
+        <arg name="simulation_mode" value="$(arg simulation_mode)"/>
+    </include>
+
+    <include file="$(find niryo_robot_user_interface)/launch/user_interface.launch">
+    </include>
+
+    <include file="$(find niryo_robot_modbus)/launch/modbus_server.launch"/>
+</launch>

niryo_robot_bringup/launch/niryo_robot_base_robot.launch.xml

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+<launch>
+    <!-- Arguments -->
+    <arg name="iot_enabled" default="false"/>
+    <arg name="debug" default="false"/>
+    <arg name="hardware_version" value="ned"/>
+    <arg name="rpi_model" value="4"/>
+    <arg name="conf_location" value="~/.config/niryo"/>
+
+    <!-- Load URDF -->
+    <param name="robot_description"
+           command="$(find xacro)/xacro $(find niryo_robot_description)/urdf/$(arg hardware_version)/without_mesh_niryo_$(arg hardware_version).urdf.xacro"/>
+    <param name="robot_description_tf2"
+           command="$(find xacro)/xacro $(find niryo_robot_description)/urdf/$(arg hardware_version)/niryo_$(arg hardware_version).urdf.xacro"/>
+
+    <!-- PARAMS -->
+    <group ns="niryo_robot/info">
+        <param name="image_version" type="string"
+               textfile="/home/niryo/.config/niryo/version/version.txt"/>
+    </group>
+
+    <group ns="niryo_robot/robot_state">
+        <param name="rate_publish_state" type="double" value="5.0"/>
+    </group>
+
+    <!-- Including shared params & nodes -->
+
+    <include file="$(find niryo_robot_bringup)/launch/niryo_robot_base_common.launch.xml">
+        <arg name="simulation_mode" value="false"/>
+        <arg name="debug" value="$(arg debug)"/>
+    </include>
+
+    <!--   Rpi node (IO / fan / ...)   -->
+    <!-- Ned RPI 4 -->
+    <include file="$(find niryo_robot_rpi)/launch/rpi_4.launch"/>
+
+    <!-- Launching vision node -->
+    <include file="$(find niryo_robot_vision)/launch/vision_node.launch">
+        <arg name="simulation_mode" value="false"/>
+    </include>
+
+    <include file="$(find niryo_robot_iot)/launch/serial_number.launch"/>
+
+    <group if="$(arg iot_enabled)">
+        <!-- Launching IOT nodes -->
+        <include file="$(find niryo_robot_iot)/launch/mqtt_client.launch">
+            <arg name="conf_location" value="$(arg conf_location)"/>
+        </include>
+    </group>
+
+    <include file="$(find niryo_robot_system_api_client)/launch/system_api_client.launch">
+        <arg name="simulation_mode" value="false"/>
+    </include>
+
+</launch>

niryo_robot_bringup/launch/niryo_robot_base_simulation.launch.xml

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+<launch>
+    <!-- Arguments -->
+    <arg name="gazebo" default="false"/>
+    <arg name="hardware_version" value="ned"/>
+    <arg name="simu_gripper" default="false"/>
+
+    <!-- PARAMS -->
+    <group ns="niryo_robot/robot_state">
+        <param name="rate_publish_state" type="double" value="20.0"/>
+    </group>
+
+    <!-- Including shared params & nodes -->
+    <include file="$(find niryo_robot_bringup)/launch/niryo_robot_base_common.launch.xml">
+        <arg name="gazebo" value="$(arg gazebo)"/>
+        <arg name="simulation_mode" value="true"/>
+        <arg name="simu_gripper" value="$(arg simu_gripper)"/>
+    </include>
+
+    <!-- Ghost node for enabling RPI simulation -->
+    <include file="$(find niryo_robot_rpi)/launch/rpi_simulation.launch"/>
+
+</launch>

niryo_robot_bringup/package.xml

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+<package>
+  <name>niryo_robot_bringup</name>
+  <version>3.0.0</version>
+  <description>Provides roslaunch scripts to start Ned packages and initialize ROS params</description>
+  <author email="r.lux@niryo.com">Rémi Lux</author>
+  <maintainer email="r.lux@niryo.com">Rémi Lux</maintainer>
+  <maintainer email="c.ducatez@niryo.com">Corentin Ducatez</maintainer>
+  <license>GPLv3</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+</package>

niryo_robot_commander/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(niryo_robot_commander)
+
+find_package(catkin REQUIRED COMPONENTS
+  actionlib_msgs
+  geometry_msgs
+  niryo_robot_msgs
+  niryo_robot_tools
+)
+
+add_message_files(
+  FILES
+  ArmMoveCommand.msg
+  PausePlanExecution.msg
+  RobotCommand.msg
+  ShiftPose.msg
+)
+
+add_service_files(
+  DIRECTORY srv
+  FILES
+  GetFK.srv
+  GetIK.srv
+  JogShift.srv
+)
+
+add_action_files(
+  DIRECTORY action
+  FILES
+  RobotMove.action
+)
+
+catkin_python_setup()
+
+generate_messages(
+  DEPENDENCIES
+  geometry_msgs
+  niryo_robot_msgs
+  niryo_robot_tools
+)
+
+catkin_package(
+  CATKIN_DEPENDS
+  actionlib_msgs
+  geometry_msgs
+  niryo_robot_msgs
+  niryo_robot_tools
+)
+
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+)
+

niryo_robot_commander/action/RobotMove.action

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+# goal
+niryo_robot_commander/RobotCommand cmd
+---
+# result
+int32 status
+string message
+---
+# feedback
+niryo_robot_msgs/RobotState state

niryo_robot_commander/config/commander_params.yaml

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+# - MoveIt! params
+reference_frame: world
+move_group_commander_name: arm
+joint_controller_name: "/niryo_robot_follow_joint_trajectory_controller"
+
+# Planning settings
+allow_replanning: true
+goal_joint_tolerance: 0.0001
+goal_position_tolerance: 0.0001
+goal_orientation_tolerance: 0.001
+
+trajectory_minimum_timeout : 3.0
+compute_plan_max_tries : 3
+
+# - Other params
+# "Is Active" topic's publish rate
+active_publish_rate_sec: 0.1
+
+command_still_active_max_tries : 3
+
+tool_timeout : 3.0
+
+pause_timeout : 45.0

niryo_robot_commander/config/jog_params.yaml

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+jog_enable_publish_rate: 1.0
+
+jog_timer_rate_sec: 0.15
+
+jog_limits:
+  translation: 0.05 # Not more than 5 cm
+  rotation: 0.5 # Not more that 0.5 radians
+  joints: 0.2 # Not more than 0.2 radians
+
+time_without_jog_limit: 2.0
+check_disable_jog_rate: 1.0