PRBT Robot ROS2 support

This repository contains basic ROS2 support for the Pilz PRBT robot.

Working with real hardware

Initial setup

Check robot is configured correctly:

• ros2 launch prbt_robot_support prbt_robot.launch.py

• Initialize all joints

• Switch to position mode for all joints

  ros2 service call /prbt_joint_1/init std_srvs/srv/Trigger
  ros2 service call /prbt_joint_2/init std_srvs/srv/Trigger
  ros2 service call /prbt_joint_3/init std_srvs/srv/Trigger
  ros2 service call /prbt_joint_4/init std_srvs/srv/Trigger
  ros2 service call /prbt_joint_5/init std_srvs/srv/Trigger
  ros2 service call /prbt_joint_6/init std_srvs/srv/Trigger

• Output from joint initialization successful

  [device_container_node-1] [INFO] [1682344012.883996069] [prbt_joint_6]: Initialised object: node_id X, index 6041, subindex 0, data 37415, RPDO: yes, TPDO: no
  [device_container_node-1] [INFO] [1682344012.885767445] [prbt_joint_6]: Initialised object: node_id X, index 6040, subindex 0, data 271, RPDO: no, TPDO: yes
  [device_container_node-1] [INFO] [1682344012.885810730] [prbt_joint_6]: Initialised object: node_id X, index 6061, subindex 0, data 7, RPDO: yes, TPDO: no
  [device_container_node-1] [INFO] [1682344012.889486704] [prbt_joint_6]: Initialised object: node_id X, index 6060, subindex 0, data 0, RPDO: no, TPDO: yes
  [device_container_node-1] [INFO] [1682344012.891355262] [prbt_joint_6]: Initialised object: node_id X, index 6502, subindex 0, data 67, RPDO: no, TPDO: no
  [device_container_node-1] [INFO] [1682344012.893113122] [prbt_joint_6]: Initialised object: node_id X, index 60c1, subindex 1, data 0, RPDO: no, TPDO: yes
  [device_container_node-1] [INFO] [1682344012.894783925] [prbt_joint_6]: Initialised object: node_id X, index 6042, subindex 0, data 0, RPDO: no, TPDO: no
  [device_container_node-1] [INFO] [1682344012.896484203] [prbt_joint_6]: Initialised object: node_id X, index 607a, subindex 0, data 0, RPDO: no, TPDO: yes

@note: Following

• Index: 6041, subindex: 0, data: 37415 --> 0x9227 --> 0b1001001000100111 --> Statusword: Operation enabled
• Index: 6061, subindex: 0, data: 7 --> Mode of operation: Interpolated position mode.

Usage

Currently this has only been tested with canopen_fake_slaves/cia402_slave as hardware emulation. To run this test do the following:

1. Setup vcan0

2. Launch vcan.launch.py of prbt_robot_moveit_config

   ros2 launch prbt_robot_moveit_config vcan.launch.py
   

3. Enable all joints

   ros2 service call /prbt_joint_1_controller/init std_srvs/srv/Trigger
   ros2 service call /prbt_joint_2_controller/init std_srvs/srv/Trigger
   ros2 service call /prbt_joint_3_controller/init std_srvs/srv/Trigger
   ros2 service call /prbt_joint_4_controller/init std_srvs/srv/Trigger
   ros2 service call /prbt_joint_5_controller/init std_srvs/srv/Trigger
   ros2 service call /prbt_joint_6_controller/init std_srvs/srv/Trigger
   

4. Switch to position mode for all joints

   ros2 service call prbt_joint_1/interpolated_position_mode std_srvs/srv/Trigger
   ros2 service call prbt_joint_2/interpolated_position_mode std_srvs/srv/Trigger
   ros2 service call prbt_joint_3/interpolated_position_mode std_srvs/srv/Trigger
   ros2 service call prbt_joint_4/interpolated_position_mode std_srvs/srv/Trigger
   ros2 service call prbt_joint_5/interpolated_position_mode std_srvs/srv/Trigger
   ros2 service call prbt_joint_6/interpolated_position_mode std_srvs/srv/Trigger
   

   ros2 service call /prbt_joint_1/position_mode std_srvs/srv/Trigger
   ros2 service call /prbt_joint_2/position_mode std_srvs/srv/Trigger
   ros2 service call /prbt_joint_3/position_mode std_srvs/srv/Trigger
   ros2 service call /prbt_joint_4/position_mode std_srvs/srv/Trigger
   ros2 service call /prbt_joint_5/position_mode std_srvs/srv/Trigger
   ros2 service call /prbt_joint_6/position_mode std_srvs/srv/Trigger

5. Plan and execute trajectories in rviz or with moveit