Merge pull request #1302 from k-okada/add_cobotta

add initial jsk cobotta packages

.github/workflows/kinetic.yml

@@ -41,5 +41,5 @@ jobs:
           NOT_TEST_INSTALL : true
           ROS_DISTRO : kinetic
           USE_DEB : false
-          BEFORE_SCRIPT : "wstool merge jsk_robot/jsk_fetch_robot/jsk_fetch_user.rosinstall.kinetic; wstool update; apt-get download ros-kinetic-julius; wget -O stripdeb.sh https://gist.githubusercontent.com/jordansissel/748313/raw/8aebce360bc082e33af7bba3c90f755eb655783b/stripdeb.sh; bash stripdeb.sh ros-kinetic-julius*.deb; sudo dpkg --force-all -i ros-kinetic-julius*.deb; sudo apt-get -y -f install; sudo apt-mark hold ros-kinetic-julius"
+          BEFORE_SCRIPT : "wstool merge jsk_robot/jsk_fetch_robot/jsk_fetch_user.rosinstall.kinetic; wstool update; apt-get download ros-kinetic-julius; wget -O stripdeb.sh https://gist.githubusercontent.com/jordansissel/748313/raw/8aebce360bc082e33af7bba3c90f755eb655783b/stripdeb.sh; bash stripdeb.sh ros-kinetic-julius*.deb; sudo dpkg --force-all -i ros-kinetic-julius*.deb; sudo apt-get -y -f install; sudo apt-mark hold ros-kinetic-julius; git clone https://github.com/k-okada/denso_robot_ros.git; (cd ..; git clone https://github.com/k-okada/cobotta_descriptions.git); (cd denso_robot_ros/denso_robot_descriptions; cp -r ../../../cobotta_descriptions/cobotta_description . )"
           EXTRA_DEB : "ros-kinetic-convex-decomposition ros-kinetic-ivcon"

.github/workflows/melodic.yml

@@ -41,4 +41,4 @@ jobs:
           NOT_TEST_INSTALL : true
           ROS_DISTRO : melodic
           USE_DEB : false
-          BEFORE_SCRIPT : "apt-get download ros-melodic-julius; wget -O stripdeb.sh https://gist.githubusercontent.com/jordansissel/748313/raw/8aebce360bc082e33af7bba3c90f755eb655783b/stripdeb.sh; bash stripdeb.sh ros-melodic-julius*.deb; sudo dpkg --force-all -i ros-melodic-julius*.deb; sudo apt-get -y -f install; sudo apt-mark hold ros-melodic-julius"
+          BEFORE_SCRIPT : "apt-get download ros-melodic-julius; wget -O stripdeb.sh https://gist.githubusercontent.com/jordansissel/748313/raw/8aebce360bc082e33af7bba3c90f755eb655783b/stripdeb.sh; bash stripdeb.sh ros-melodic-julius*.deb; sudo dpkg --force-all -i ros-melodic-julius*.deb; sudo apt-get -y -f install; sudo apt-mark hold ros-melodic-julius; git clone https://github.com/k-okada/denso_robot_ros.git; (cd ..; git clone https://github.com/k-okada/cobotta_descriptions.git); (cd denso_robot_ros/denso_robot_descriptions; cp -r ../../../cobotta_descriptions/cobotta_description . )"

.github/workflows/noetic.yml

@@ -42,4 +42,4 @@ jobs:
           ROS_DISTRO : noetic
           USE_DEB : false
           TEST_PKGS : "jsk_robot_startup" # check only jsk_robot_startup
-          BEFORE_SCRIPT : "apt-get download ros-noetic-julius; wget -O stripdeb.sh https://gist.githubusercontent.com/jordansissel/748313/raw/8aebce360bc082e33af7bba3c90f755eb655783b/stripdeb.sh; bash stripdeb.sh ros-noetic-julius*.deb; sudo dpkg --force-all -i ros-noetic-julius*.deb; sudo apt-get -y -f install; sudo apt-mark hold ros-noetic-julius"
+          BEFORE_SCRIPT : "apt-get download ros-noetic-julius; wget -O stripdeb.sh https://gist.githubusercontent.com/jordansissel/748313/raw/8aebce360bc082e33af7bba3c90f755eb655783b/stripdeb.sh; bash stripdeb.sh ros-noetic-julius*.deb; sudo dpkg --force-all -i ros-noetic-julius*.deb; sudo apt-get -y -f install; sudo apt-mark hold ros-noetic-julius; git clone https://github.com/k-okada/denso_robot_ros.git; (cd ..; git clone https://github.com/k-okada/cobotta_descriptions.git); (cd denso_robot_ros/denso_robot_descriptions; cp -r ../../../cobotta_descriptions/cobotta_description . )"

jsk_denso_robot/README.md

@@ -0,0 +1,168 @@
+# jsk_denso_robot
+
+
+ROS package for Denso b-CAP communication robot.
+
+
+## How to setup development environment
+
+use `wstool`, `rosdep` and `catkin` to checkout and compile the source tree.
+
+```
+mkdir -p ~/denso_ws/src
+cd ~/denso_ws/src
+wstool init
+wstool merge https://raw.githubusercontent.com/k-okada/jsk_robot/add_cobotta/jsk_denso_robot/denso.rosinstall
+wstool update
+cd ../
+git clone https://github.com/k-okada/cobotta_descriptions.git
+(cd src/denso_robot_ros/denso_robot_descriptions; ln -sf ../../../cobotta_descriptions/cobotta_description .)
+source /opt/ros/melodic/setup.bash
+rosdep install -y -r --from-paths src --ignore-src
+catkin build cobottaeus jsk_cobotta_startup -vi
+source devel/setup.bash
+```
+
+## COBOTTA Setup
+
+Please refer to [COBOTTA User Manuals](https://www.fa-manuals.denso-wave.com/jp/COBOTTA/007030/) to setup your robot.
+To install Virtual TP software, please refer to [Software Install](https://www.fa-manuals.denso-wave.com/jp/COBOTTA/007263/) section of the User Manuals.
+
+## Start Virtual IP
+
+To control the robot, you need to start Virtual TP software and push top-left 'Connect' menu.
+
+
+![](img/vtp-init.png)
+
+Then you need to input the IP address of your robot. The default robot IP address is '192.169.0.1'.
+
+![](img/vtp-connect.png)
+
+To control the robot, you need to specify user level and password. The default password can be find [COBOTTA User Manuals](https://www.fa-manuals.denso-wave.com/jp/COBOTTA/007030/)
+
+![](img/vtp-login.png)
+
+You can skip calibration section and also put "Prepare Motion"
+
+![](img/vtp-skip.png)
+
+This is main user interface. You can push 'cancel' button on right-top to back to this panel.
+
+![](img/vtp-display.png)
+
+### Setup IP address of the robot
+
+You may want to change IP address of the robot, to connect your network. To do this, please push "Setting" button on the right bottom.
+
+![](img/vtp-exec1.png)
+
+Then push 'Network and communication (F2)'.
+
+![](img/vtp-network1.png)
+
+Now, you can change IP address.
+
+![](img/vtp-network2.png)
+
+You can set the IP address by using this 10-key like interface. You need to push 'OK' button of 10-key like panel, and then push 'OK' button of 'Communication Setting' panel.
+
+![](img/vtp-network3.png)
+
+### Setup IP address of client computer
+
+To work with ROS node. You need to tell IP address of your ROS node running computer to the robot.
+This is called 'executable' and you need to set 'executable' IP address from Virtual TP software.
+
+Form main panel, push "Setting" button on the right bottom.
+
+![](img/vtp-exec2.png)
+
+Then push 'Executable (F1)'
+
+![](img/vtp-exec3.png)
+
+Select 'Ethernet' tab and change IP address.
+
+![](img/vtp-exec4.png)
+
+You can set the IP address by using this 10-key like interface. You need to push 'OK' button of 10-key like panel, and then push 'OK' button of 'Communication Setting' panel.
+
+## Start ROS Node
+
+```
+source ~/denso_ws/devel/setup.bash
+roslaunch --screen jsk_cobotta_startup cobotta_bringup.launch ip_address:=192.168.0.1
+```
+
+Make sure that `ip_address` is set by [Setup IP address of the robot](#setup-ip-address-of-the-robot) and your ROS client node IP address is set by [Setup IP address of client computer](#setup-ip-address-of-client-computer).
+
+## Use EusLisp model
+
+To control the robot form EusLisp. Please start `roseus` and type as follows.
+
+```
+(load "package://cobottaeus/cobotta-interface.l")
+(cobotta-init)
+```
+
+Use `:angle-vector` method to specify the arm joint angle.
+```
+(send *cobotta* :angle-vector #f(0 20 80 0 20 0.0))
+```
+
+
+You can also use `:inverse-kinematics` method to specify the arm pose from target coordinates.
+```
+(send *cobotta* :arm :inverse-kinematics (make-coords :pos #f(150 0 50) :rpy (float-vector pi  0 pi)) :debug-view t)
+```
+
+To move the gripper 50 [mm] up, you can use `move-end-pos` method.
+```
+(send *cobotta* :arm :move-end-pos #f(0 0 -50))
+```
+
+You can also use `move-end-rot` method to turn the gripper.
+```
+(send *cobotta* :arm :move-end-rot -90 :z)
+```
+
+
+To control real robot. you can use `*ri*` object.
+```
+(send *ri* :angle-vector (send *cobotta* :angle-vector) 2000)
+```
+`2000` indicates we ask robot to move for `2000 [msec]`
+
+To obtain current robot pose, use `:state :potentio-vector` method.
+```
+(send *ri* :state :potentio-vector)
+```
+
+To open and close the gripper. You can use `:start-grasp` and `:stop-grasp`.
+```
+(send *ri* :stop-grasp)
+(send *ri* :start-grasp)
+```
+
+`:start-grasp` method returns `t` if it succeeded to grasp object. If it returns `nil`, nothing was grasped.
+
+When the robot detect errors, the LED of the robot become yellow or red. Or you can find warning message like follows.
+```
+[ WARN] [1607683352.232275227]: Call {func_id: 72, vntArgs: ({vt: 3, value: 182} {vt: 3, value: 1} {vt: 8, value: P(210.0,0.0,-60.0,180.0,0.0,80.0,261)} {vt: 8, value: })}
+-2111814862 -7ddfbcce
+[ WARN] [1607683352.232440142]:  ** ERROR_CODE 82204332 (Unknown error message) **
+```
+In this situation, you can clear error by
+```
+(send *ri* :clear-error)
+```
+
+If error still occurs, try `:dispose` and `:init` again.
+```
+(send *ri* :dispose)
+(send *ri* :init)
+```
+
+---
+If you have any question, please feel free to file open at https://github.com/jsk-ros-pkg/jsk_robot/issues

jsk_denso_robot/cobottaeus/CMakeLists.txt

@@ -0,0 +1,55 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(cobottaeus)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  roseus
+  euscollada
+)
+find_package(denso_cobotta_descriptions) # Just in case when description is not released. Avoid compile failing
+
+catkin_package()
+
+if(NOT denso_cobotta_descriptions_FOUND)
+  message(WARNING "denso_cobotta_descriptions is not found, so skip generating cobotta.l")
+  message(WARNING "Install denso_cobotta_descriptions from https://github.com/DENSORobot/denso_cobotta_ros")
+  return()
+endif()
+
+
+###########
+## Build ##
+###########
+if(EXISTS ${denso_cobotta_descriptions_SOURCE_PREFIX}/cobotta_description)
+  set(_cobotta_urdf ${denso_cobotta_descriptions_SOURCE_PREFIX}/cobotta_description)
+else()
+  set(_cobotta_urdf ${denso_cobotta_descriptions_PREFIX}/share/denso_cobotta_descriptions/cobotta_description)
+endif()
+set(_collada2eus ${euscollada_PREFIX}/lib/euscollada/collada2eus)
+
+
+message("cobotta_urdf: ${_cobotta_urdf}")
+message("collada2eus: ${_collada2eus}")
+
+add_custom_command(OUTPUT ${PROJECT_BINARY_DIR}/cobotta.urdf
+  COMMAND xacro ${_cobotta_urdf}/cobotta.urdf.xacro > ${PROJECT_BINARY_DIR}/cobotta.urdf
+  DEPENDS ${_cobotta_urdf}/cobotta.urdf.xacro)
+add_custom_command(OUTPUT ${PROJECT_SOURCE_DIR}/cobotta.l
+  COMMAND echo "${_collada2eus} ${PROJECT_BINARY_DIR}/cobotta.urdf cobotta.l"
+  COMMAND ${_collada2eus} ${PROJECT_BINARY_DIR}/cobotta.urdf ${PROJECT_SOURCE_DIR}/cobotta.yaml ${PROJECT_SOURCE_DIR}/cobotta.l
+  DEPENDS ${PROJECT_BINARY_DIR}/cobotta.urdf ${PROJECT_SOURCE_DIR}/cobotta.yaml ${_collada2eus})
+  add_custom_target(compile_cobotta ALL DEPENDS ${PROJECT_SOURCE_DIR}/cobotta.l)
+
+
+install(DIRECTORY euslisp test
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  USE_SOURCE_PERMISSIONS)
+
+install(FILES cobotta.l cobotta-interface.l cobotta-util.l cobotta.yaml DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+if(CATKIN_ENABLE_TESTING)
+  find_package(catkin REQUIRED COMPONENTS rostest)
+  add_rostest(test/test-cobotta.test)
+endif()