Collaborative-Robotic-Sanding

The CRS (Collaborative Robotic Sanding) Application buit in ROS2 eloquent

Workspace Setup

Create the workspace directory

mkdir -p ~/crs_ws/src            # Make a new workspace and source directory
cd ~/crs_ws/src                     # Navigate to the workspace source directory
git clone https://github.com/swri-robotics/collaborative-robotic-sanding.git  # clone the repository

Download source dependencies

• Install wstool
• cd into your colcon workspace root directory
• Run wstool as follows

  cd ~/crs_ws
  wstool init src src/collaborative-robotic-sanding/crs.rosinstall
  wstool update -t src
  

Download debian dependences

• Install rosdep
• From the root directory of your workspace run the following:

  rosdep install --from-path src --ignore-src -ry
  

Download additional REQUIRED resources

• ros-eloquent-launch-xml

  sudo apt install ros-eloquent-launch-xml
  

  This allows using xml formatted launch files

• QT5, which is a dependency of ros_scxml therefore follow the instructions provided here

Issues

• To run on hardware it is necessary to build the ros1 robot driver and the bridge in separate workspace, see instructions on that below.

Build

ROS2 Application

This will build the main application, from the workspace run the following

colcon build --symlink-install

This application is all that is necessary to run the system in simulation mode with gazebo

Setup

Data Directory

Create a soft link (shortcut) in the home directory as follows

1. cd into the crs_process_data package

   cd crs_process_data/data/main/toolpaths
   

The main directory holds the toolpaths for the main workcell, choose surrogate1 if that workcell is to be used instead.

2. Create soft link

   ln -s  $(pwd) $HOME/crs_data
   
   

Running Application

• See the instructions here

Hardware dependencies

The following instructions are necessary when running on real hardware:

Camera Driver

• Go to Framos Depth Camera. Download and Extract the tar file and then install the FRAMOS-librealsense2-2.29.8-Linux64_x64.deb debian
• Download source and debian dependencies

  cd ~/crs_ws
  wstool merge -t src src/collaborative-robotic-sanding/crs_hardware.rosinstall
  wstool update -t src
  rosdep install --from-path src --ignore-src -ry
  colcon build --symlink-install
  

Build ROS1 Robot Driver and Bridge

• Follow instructions here