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  1. Yesterday
  2. Don Spear

    Change Sawyer 'eyes'

    Hello, While you cannot change the default image that appears while the system is booting, you can modify the image on the screen using the example detailed in the link below. http://sdk.rethinkrobotics.com/intera/Head_Display_Image_Example Best, Don
  3. Hi guys, I am trying to do some rl experiments on sawyer. The self-collision avoidance feature works really well. However as I setup the sawyer on a fixed table, I also need to make sure the robot will not hit the table either. But I have no idea how to do this. Any help is appreciated!
  4. Last week
  5. jorgegalds_DON

    Change Sawyer 'eyes'

    Wanted to know if there is a way to change the 'eyes' image for a pre selected image when booting in the SDK mode.
  6. Jianlan

    Enter payload in SDK mode

    Hi Ian, Thank you for the confirmation. For the convenience of other people, if you are using a Robotiq 3-finger gripper with correct coupling elements, attached file is our calculation of Inertia, COM etc. it works well in our case <?xml version="1.0"?> <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="basic_robotiq_gripper"> <xacro:macro name="basic_robotiq_gripper" params="side"> <joint name="${side}_gripper_base" type="fixed"> <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/> <!-- Enter the 3D pose of your end effector frame here w.r.t. end of arm --> <parent link="${side}_hand"/> <child link="${side}_robotiq_gripper"/> </joint> <link name="${side}_robotiq_gripper"> <inertial> <origin rpy="0 0 0" xyz="-8.0e-3 0.0 60.0e-3"/> <!-- only modify this if there is an C.O.M. offset w.r.t your gripper_base joint above --> <mass value="2.6"/> <!-- Enter your mass and inertial properties here --> <inertia ixx="7424e-6" ixy="0" ixz="-650e-6" iyy="8924e-6" iyz="0" izz="7243e-6"/> </inertial> </link> </xacro:macro> <xacro:basic_robotiq_gripper side="right"/> </robot> Jianlan
  7. Ian McMahon

    Enter payload in SDK mode

    Hi Jianlan, Yes, all units are in S.I. (per ROS standards), with Kilograms and Meters. Cheers, ~ Ian
  8. OrwinLtd

    EGP Schunk gripper

    Hi All, I have purchased a Schunk EGP 6-N-N-B gripper, and i am needing the wiring diagram to be able to connect the gripper direct to the end of arm? Is this connected through the Clicksmart plate and if so what wire do I need? Also I need the wiring set up for the control box so i can establish where the 24v power can come from for the gripper.? Thanks Nav
  9. Jianlan

    Enter payload in SDK mode

    Hi Ian, Thank you so much, it worked somehow. Just to double-confirm, we enter every unit in the xml in meter and kg, is this what it's supposed to be ? thank you Jianlan
  10. We're trying to use the new intera 5.2 software to do endpoint impedance control on the Sawyer robot. The primary goal is to enable unsupervised data collection for machine learning research using the Sawyer arm, which naturally requires reasonably precise yet "soft" control (rather not apply too much force to avoid breaking objects). I've seen the interaction control tutorial and tried some of the example scripts. The demo scripts has two problems that I'm not sure how to get past: Only works wells when waypoints are far apart. Controller seems somewhat unstable when the waypoints are super close together. Has super stiff control to get to a target location and then switches to a softer controller. We'd rather have the smooth controller engaged throughout the entire trajectory, in order to get a safe/smooth motion from start to target position. We've actually been using a modified version of the joint_torque_springs tutorial from earlier intera versions. Is there a better (e.g more precise/safer/easier) way to do this with the new interaction interface?
  11. Ian McMahon

    Joint Trajectory Action Server Error

    Hi Fynn, It is possible there is an underlying hardware issue. To debug this, please retrieve your logfiles by rebooting into the FSM and exporting them to a USB device, then sharing the resulting files with our Support team Support@rethinkrobotics.com : http://sdk.rethinkrobotics.com/intera/Field_Service_Menu_(FSM)#Diagnostic_Functions Thank you, ~ Ian
  12. Ian McMahon

    gazebo simulator launch problem

    Hi Junchao, I am not 100% certain on the minimum required NVidia graphics card required, as neither we nor the Open Robotics Gazebo team have exhaustively tested NVidia's line of cards. I can tell you that my 2015 laptop containing an NVidia Quadro M1000M mobile graphics card will run sawyer_gazebo at the highest 1.0 realtime simulation factor, with the proper driver installed. You might be able to get away with an older / less powerful card, but I cannot guarantee it. I hope this helps. ~ Ian
  13. Ian McMahon

    Enter payload in SDK mode

    Hi Jianlan, There are two ways to enter payload in SDK mode for Sawyer, one is supplying Sawyer with the relevant URDF fragment, or by using the Clicksmart Gripper mounting plate, with stored end effector data built into its memory. If you're using the Clicksmart, then configuring via Intera is the way to go. It will retain its configuration when booted into SDK mode, and maintain this information between reboots. Based on your description, it seems you're not using the Clicksmart plate. In that case, you will supply the robot with the relevant URDF data from your computer using the send_urdf_fragment script. That fragment can either be a full actuated gripper URDF or a simple fixed joint with payload, so long as it is attached to the "right_hand" link. For instance: Filename: basic_robotiq_gripper.xacro <?xml version="1.0"?> <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="basic_robotiq_gripper"> <xacro:macro name="basic_robotiq_gripper" params="side"> <joint name="${side}_gripper_base" type="fixed"> <origin rpy="0 0 0" xyz="0 0 0"/> <!-- Enter the 3D pose of your end effector frame here w.r.t. end of arm --> <parent link="${side}_hand"/> <child link="${side}_robotiq_gripper"/> </joint> <link name="${side}_robotiq_gripper"> <inertial> <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/> <!-- only modify this if there is an C.O.M. offset w.r.t your gripper_base joint above --> <mass value="2.5"/> <!-- Enter your mass and inertial properties here --> <inertia ixx="1e-08" ixy="0" ixz="0" iyy="1e-08" iyz="0" izz="1e-08"/> </inertial> </link> </xacro:macro> <xacro:basic_robotiq_gripper side="right"/> </robot> then in a terminal, supply the link onboard the robot to attach this object (right_hand here), the joint from your URDF (right_gripper_base from above), and the location of the file containing all of your URDF details (basic_robotiq_gripper.xacro in this example): $ rosrun intera_interface send_urdf_fragment.py --link right_hand --joint right_gripper_base --file basic_robotiq_gripper.xacro One thing to note, this needs to be run anytime you've rebooted the Sawyer, as the configuration is not saved inside of a Clicksmart toolplate. Please let us know if you have any additional questions on this. Hope this helps! ~ Ian
  14. JUNCHAO

    gazebo simulator launch problem

    Hello Ian, Just wanna be clear. What is the minimum requirement as a dedicated NVidia graphic card? Thanks, Junchao Li
  15. Jianlan

    Enter payload in SDK mode

    Hello, We have a Sawyer robot with Intera 5.2, and a Robotiq 3 finger gripper installed on it (https://robotiq.com/products/3-finger-adaptive-robot-gripper), it is 2.5 kg. We entered the payload information in Intera Studio, it looked fine in Intera mode. However, it did not work in SDK mode, the robot can't even hold it self, and motors started backdriving, can't move even. The specified payload of Sawyer is 4KG, the gripper plus coupling is surely under this, We wonder how to properly enter payload information or how to actually solve it in SDK mode. Thank you.
  16. Fynn

    Joint Trajectory Action Server Error

    Hi Ian, this ROS_IP is not the issue. This is the IP of the workstation and it worked without any problems before the turtlebot connection. just in case I changed the scripts to use the your_hostname variable, but this did not solve the issue. The joint_trajectory_action_server still throws this error message and hangs in the process. The turtlebot also never was a ROS_Master. It is connected to the sawyer as a slave, so there are no conflicting Masters in one network. Could this error originate from a hardware malfunction?
  17. Earlier
  18. Ulysse

    Cannot sync with NTP server

    I cannot have access to the NTP server but here is what I know about it: OS is CentOS Linux release 7.2 NTP version is 4.2.6p5 It uses the `time.my.company.fr` server as a reference, which is connected to the Internet Do you have specific informations you want me to ask for? Thanks Ian.
  19. Ulysse

    Moveit Trajectory Failed

    Haha I think I did not explain myself very well. The `date +%s` command is to get the current clock value of your workstation at a given time. The number is big because it is the number of seconds elapsed since 1970 (we call it epoch). When Sawyer sends a joint_state message, it calls it under the hood and use it to fill the `header.stamp.secs` message (the `header.stamp.nsecs` message is filled with the result of command `date +%N` but we're not really interested in this one yet). For short, just run the following command and post the output: date +%s & rostopic echo -n 1 /robot/joint_states/header/stamp/secs To speed things up I also want you to execute the following command: clockdiff -o <ip>.<adress>.<of>.<sawyer> # Be careful: IP address of Sawyer, not NTP server!
  20. JUNCHAO

    Moveit Trajectory Failed

    Hello Ulysse, Thanks for your reply! -When I used the command "date+%s", it shows a very big number. Does that mean they are still not sync yet? robotics@robotics-Latitude-E5470:~/ros_ws$ date +%s 1528927112 -I used "ntpdate -q <workstation_ip>" to test the synchronization, I think it shows it is good. ntpdate -q 169.254.221.25 server 169.254.221.25, stratum 3, offset -0.000020, delay 0.02570 13 Jun 16:57:29 ntpdate[20200]: adjust time server 169.254.221.25 offset -0.000020 sec -I used "rostopic echo /robot/joint_states" to grab the joint states, please see the attachment below. Thanks for the help! Please let me know what do you think. Junchao Li
  21. Ian McMahon

    gazebo simulator launch problem

    Hi Junchao, That is correct. While your laptop will work for controlling the real Sawyer hardware, it does not meet the minimum specs for data Visualization or Simulation of Sawyer. Please request hardware with a dedicated graphics card to simulate Sawyer. Best, ~ Ian
  22. JUNCHAO

    gazebo simulator launch problem

    Hello Ian, Thanks for the advice! It looks like a hardware issue. Since I am using the university provided laptop, so you mean I have to change a higher level laptop or computer in order to run it? Thanks, Junchao Li
  23. Ian McMahon

    gazebo simulator launch problem

    Hi Junchao, "Intel HD Graphics 520 (Skylake GT2)" means that your computer does not in fact have a graphics card, and is instead relying on integrated graphics. This will likely not work with the relatively complex simulation and models for Sawyer, which explains your errors in execution. Please see the minimum requirements section of Gazebo for details: http://gazebosim.org/tutorials?tut=guided_b1&amp;cat=#Systemrequirements I would recommend using a system with a dedicated graphics card, preferably an NVidia card and use the proprietary NVidia drivers for it. I hope this helps! ~ Ian
  24. JUNCHAO

    gazebo simulator launch problem

    Hello Ian, My Graphic card appears as "Intel® HD Graphics 520 (Skylake GT2) ". Junchao Li
  25. Ian McMahon

    Joint Trajectory Action Server Error

    Hi Fynn, One thing that looks unusual is your ROS_IP address: ROS_IP=134.147.86.227 Is it possible this is an external IP address, rather than a local IP? Could you change your intera.sh file to use your_hostname variable with your workstation's hostname.local as the value and then communicate with the robot? Please post your ROS environment variables after the change, I would expect to see ROS_HOSTNAME to be populated. Thank you, ~ Ian
  26. Ian McMahon

    Cannot sync with NTP server

    That is very helpful information. I think I now have a good handle on your network topology. Thank you Ulysse. After looking through your information, I realized it would be helpful to see your NTP Server's config file. Is there any chance you could supply that? Also, is this NTP server connected to the Internet or an absolute time device? Thank you, ~ Ian
  27. Ian McMahon

    gazebo simulator launch problem

    Do you know if your computer has a graphics card? I have a feeling a lack of (or underpowered) graphics card is the root of the issue. You can view this by clicking on to the upper bar, and then About this Computer, and listing the field next to Graphics:
  28. Ulysse

    Cannot sync with NTP server

    Sorry I was confusing, my examples using `ntpdate` and `clockdiff` were to check clock offsets between my workstation and the Sawyer. For clarity (all IP addresses are configured statically): NTP server: 192.168.212.22 Sawyer: 192.168.212.60 Workstation (Ubuntu 16.04 LTS virtual machine running under Oracle VirtualBox on Windows 7 Enterprise): 192.168.212.160 Content of my workstation's `/etc/ntp.conf` file: # ntp.conf: Managed by puppet. # # Enable next tinker options: # panic - keep ntpd from panicking in the event of a large clock skew # when a VM guest is suspended and resumed; # stepout - allow ntpd change offset faster tinker panic 0 disable monitor # Permit time synchronization with our time source, but do not # permit the source to query or modify the service on this system. restrict -4 default kod nomodify notrap nopeer noquery restrict -6 default kod nomodify notrap nopeer noquery restrict 127.0.0.1 restrict ::1 # Set up servers for ntpd with next options: # server - IP address or DNS name of upstream NTP server # iburst - allow send sync packages faster if upstream unavailable # prefer - select preferrable server # minpoll - set minimal update frequency # maxpoll - set maximal update frequency server 192.168.212.22 iburst prefer server 10.8.113.254 iburst server time.my.company.fr iburst # Driftfile. driftfile /var/lib/ntp/drift Some outputs from my workstation: user@workstation:~$ ntpq -p remote refid st t when poll reach delay offset jitter ============================================================================== 192.168.212.22 132.166.192.1 3 u 32 64 0 0.000 0.000 0.000 +10.8.113.254 192.168.8.2 3 u 4 64 7 1.117 4.700 10.553 *my.company 195.220.94.163 2 u 3 64 7 1.154 -2.642 11.157 user@workstation:~$ ntpdate -q 192.168.212.22 server 192.168.212.22, stratum 3, offset -0.062119, delay 0.02606 13 Jun 09:37:19 ntpdate[2368]: no server suitable for synchronization found user@workstation:~$ ntpdate -q 192.168.212.60 server 192.168.212.60, stratum 0, offset 0.000000, delay 0.00000 13 Jun 09:38:24 ntpdate[2373]: no server suitable for synchronization found user@workstation:~$ clockdiff -o 192.168.212.60 ...... host=192.168.212.60 rtt=177(265)ms/0ms delta=-17952260ms/-17952260ms Wed Jun 13 09:38:58 2018 Content of Sawyer's FSM: Hostname: 02170CP00029 IP type: Static IP IP Address*: 192.168.212.60 IP Netmask*: 255.255.252.0 IP Gateway*: 192.168.215.254 # That is a dummy one as there is no gateway configured on my network DNS: # Empty NTP Servers: 192.168.212.22 ROS Naming Type: ROS_IP Timezone: Europe/Paris Let me know if you need further information. Thanks Ian.
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