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How to create a rectangular motion with joint_trajectory_client
Marco Ghidelli posted a topic in Robot
Hello, I'm now with the Sawyer's SDK world. I'm trying to create a rectangular motion with joint_trajectory_action_server.py and joint_trajectory_client.py scripts available on intera_examples and intera_interface. However, I'm not able to modify the axis of motion in client's script in order to obtain the desired shape of motion. Can someone help me please? Thank you for the attention -
Problems with the ROS connection to the Sawyer robot
Cheolhui replied to Giovanni.Atorino's topic in Robot
You should give the robot static IP address As the network setup figure implies, It is recommended to use the router and set the robot's static address in the same domain to your development PC. In ur case, it could be 158.42.xxx.yyy. (Since you mentioned ur ip address is 158.42.278.72. Is it static address or DHCP address ?) If you have any question regarding this, I would like to help you via e-mail ; mch5048@korea.ac.kr -
Problems with the ROS connection to the Sawyer robot
ZivB replied to Giovanni.Atorino's topic in Robot
Hi! Quick test you can do: Try to open a terminal and type: ping -c 4 <ROBOT HOSTNAME> see if that returns something other than a "timeout" or "could not resolve" errors if that's not good try to do the same with ping -c 4 <ROBOT IP> if the hostname ping test is giving an error but the ip doesn't it usually means that the DNS in your network is not defined properly. -
Hello, I am giovanni. I am trying to connect with the Sawyer Robot using ROS. The ROS_HOSTNAME.local of my robot is: 021705CP00067 and my IP is: 158.42.278.72. First, I'm doing "cd ~/ros_ws". Then, "./intera.sh" and this show me the following message: "EXITING - Please edit this file, modifying the 'robot_hostname' variable to reflect your Robot's current hostname." So, to solve that I insert in my console "gedit intera.sh", but after modify it I cannot connect with the robot. This is my "./intera.sh" code: #!/bin/bash # Copyright (c) 2013-2016, Rethink Robotics # All rights reserved. # This file is to be used in the *root* of your Catkin workspace. # This is a convenient script which will set up your ROS environment and # should be executed with every new instance of a shell in which you plan on # working with Intera. # Clear any previously set your_ip/your_hostname unset your_ip unset your_hostname #-----------------------------------------------------------------------------# # USER CONFIGURABLE ROS ENVIRONMENT VARIABLES # #-----------------------------------------------------------------------------# # Note: If ROS_MASTER_URI, ROS_IP, or ROS_HOSTNAME environment variables were # previously set (typically in your .bashrc or .bash_profile), those settings # will be overwritten by any variables set here. # Specify Robot's hostname robot_hostname="021705CP00067.local" # Set *Either* your computers ip address or hostname. Please note if using # your_hostname that this must be resolvable to the Robot. your_ip="158.42.278.72" your_hostname="giovanni.local" # Specify ROS distribution (e.g. indigo, hydro, etc.) ros_version="kinetic" #-----------------------------------------------------------------------------# tf=$(mktemp) trap "rm -f -- '${tf}'" EXIT # If this file specifies an ip address or hostname - unset any previously set # ROS_IP and/or ROS_HOSTNAME. # If this file does not specify an ip address or hostname - use the # previously specified ROS_IP/ROS_HOSTNAME environment variables. if [ -n "${your_ip}" ] || [ -n "${your_hostname}" ]; then unset ROS_IP && unset ROS_HOSTNAME else your_ip="${ROS_IP}" && your_hostname="${ROS_HOSTNAME}" fi # If argument provided, set robot_hostname to argument # If argument is sim or local, set robot_hostname to localhost if [ -n "${1}" ]; then if [[ "${1}" == "sim" ]] || [[ "${1}" == "local" ]]; then robot_hostname="021705CP00067" if [[ -z ${your_ip} || "${your_ip}" == "158.42.278.72" ]] && \ [[ -z ${your_hostname} || "${your_hostname}" == "giovanni.local" ]]; then your_hostname="giovanni" your_ip="" fi else robot_hostname="${1}" fi fi topdir=$(basename $(readlink -f $(dirname ${BASH_SOURCE[0]}))) cat <<-EOF > ${tf} [ -s "\${HOME}"/.bashrc ] && source "\${HOME}"/.bashrc [ -s "\${HOME}"/.bash_profile ] && source "\${HOME}"/.bash_profile # verify this script is moved out of intera_sdk folder if [[ -e "${topdir}/intera_sdk/package.xml" ]]; then echo -ne "EXITING - This script must be moved from the intera_sdk folder \ to the root of your catkin workspace.\n" exit 1 fi # verify ros_version lowercase ros_version="$(tr [A-Z] [a-z] <<< "${ros_version}")" # check for ros installation if [ ! -d "/opt/ros" ] || [ ! "$(ls -A /opt/ros)" ]; then echo "EXITING - No ROS installation found in /opt/ros." echo "Is ROS installed?" exit 1 fi # if set, verify user has modified the robot_hostname if [ -n ${robot_hostname} ] && \ [[ "${robot_hostname}" == "021705CP00067.local" ]]; then echo -ne "EXITING - Please edit this file, modifying the \ 'robot_hostname' variable to reflect your Robot's current hostname.\n" exit 1 fi # if set, verify user has modified their ip address (your_ip) if [ -n ${your_ip} ] && [[ "${your_ip}" == "158.42.278.72" ]]; then echo -ne "EXITING - Please edit this file, modifying the 'your_ip' \ variable to reflect your current IP address.\n" exit 1 fi # if set, verify user has modified their computer hostname (your_hostname) if [ -n ${your_hostname} ] && \ [[ "${your_hostname}" == "giovanni.local" ]]; then echo -ne "EXITING - Please edit this file, modifying the \ 'your_hostname' variable to reflect your current PC hostname.\n" exit 1 fi # verify user does not have both their ip *and* hostname set if [ -n "${your_ip}" ] && [ -n "${your_hostname}" ]; then echo -ne "EXITING - Please edit this file, modifying to specify \ *EITHER* your_ip or your_hostname.\n" exit 1 fi # verify that one of your_ip, your_hostname, ROS_IP, or ROS_HOSTNAME is set if [ -z "${your_ip}" ] && [ -z "${your_hostname}" ]; then echo -ne "EXITING - Please edit this file, modifying to specify \ your_ip or your_hostname.\n" exit 1 fi # verify specified ros version is installed ros_setup="/opt/ros/\${ros_version}" if [ ! -d "\${ros_setup}" ]; then echo -ne "EXITING - Failed to find ROS \${ros_version} installation \ in \${ros_setup}.\n" exit 1 fi # verify the ros setup.sh file exists if [ ! -s "\${ros_setup}"/setup.sh ]; then echo -ne "EXITING - Failed to find the ROS environment script: \ "\${ros_setup}"/setup.sh.\n" exit 1 fi # verify the user is running this script in the root of the catkin # workspace and that the workspace has been compiled. if [ ! -s "devel/setup.bash" ]; then echo -ne "EXITING - \n1) Please verify that this script is being run \ in the root of your catkin workspace.\n2) Please verify that your workspace \ has been built (source /opt/ros/\${ros_version}/setup.sh; catkin_make).\n\ 3) Run this script again upon completion of your workspace build.\n" exit 1 fi [ -n "${your_ip}" ] && export ROS_IP="${your_ip}" [ -n "${your_hostname}" ] && export ROS_HOSTNAME="${your_hostname}" [ -n "${robot_hostname}" ] && \ export ROS_MASTER_URI="http://${robot_hostname}:11311" # source the catkin setup bash script source devel/setup.bash # setup the bash prompt export __ROS_PROMPT=\${__ROS_PROMPT:-0} [ \${__ROS_PROMPT} -eq 0 -a -n "\${PROMPT_COMMAND}" ] && \ export __ORIG_PROMPT_COMMAND=\${PROMPT_COMMAND} __ros_prompt () { if [ -n "\${__ORIG_PROMPT_COMMAND}" ]; then eval \${__ORIG_PROMPT_COMMAND} fi if ! echo \${PS1} | grep '\[intera' &>/dev/null; then export PS1="\[\033[00;33m\][intera - \ \${ROS_MASTER_URI}]\[\033[00m\] \${PS1}" fi } if [ "\${TERM}" != "dumb" ]; then export PROMPT_COMMAND=__ros_prompt __ROS_PROMPT=1 elif ! echo \${PS1} | grep '\[intera' &>/dev/null; then export PS1="[intera - \${ROS_MASTER_URI}] \${PS1}" fi EOF ${SHELL} --rcfile ${tf} rm -f -- "${tf}" trap - EXIT # vim: noet Someone knows what can I do? Thanks for all
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I think it's better to use intera_motion interface. However, it seems the sdk webpage is not maintained anymore. So if you don't mind looking into the somewhat dirty code, I'll share my implementation using intera motion interface for palletizing task. I just uploaded the code @ my git repo. It's the work done when I was a newbie, so pardon for the clumsy code. If you have questions regarding it, feel free to ask me with using the intera motion interface. https://github.com/mch5048/sawyer_interface
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Hi, It's a pleasure to hear that Sawyer robot arms are being kept supported! By the way, I have an issue with using ROS topic published by the real Sawyer robot arm. The official SDK doc states that the robot's end-effector is dynamically calibrated so that the URDF for solving robot's IK/FK change when the user attaches/detaches the official electric/pneumatic gripper. However, in my case, the ROS topic named '/robot/limb/right/endpoint_state' is not changing whether I attach/detach the gripper or not. The topic in the simulated environment provided by the Gazebo works well. I really need this feature for the research regarding deep reinforcement learning to utilize the cartesian information for training the neural nets. I guess there's a problem with the connection (though I can run the gripper script in intera_example), or the robot arm is not calibrated with the gripper. I need some help with this issue. Thanks in advance! sincerely, Cheolhiui
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Hello, I am new to SDK mode for sawyer and am just investigating it at this point. I am trying to find information on pattern creation. Currently we are looking at designing a cell for sawyer to stack parts into a pyramid (8 parts on the base, 7 on layer 2, 6 on layer 3, etc). I am having an extremely hard time creating a robust program in Intera as this pyramid will change with every part (sometimes there will be 8 parts on the base, sometimes 16 or any other number depending on the part size). What I would like to see is a way to offset the next layer based on x, y, and z coordinates. thank you for any help you can provide, or any example programs to better help me understand the SDK capability. -Zack
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I was able to resolve this issue! I had been making modifications to the end of arm tooling since handing the robot over to production. It turns out I had added something like 214g and all my xyz center of mass coordinates were off because of those changes. I re-weighed my tooling, update the mass in the tooling library and corrected the center of mass coordinates on the fly by just using the zero-g button and seeing which way the robot was pulling. Since then I haven't had any issue with lost coordinates in my program. I hope this helps!
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I built a frame out of 80/20 and mounted it directly to Sawyer so it's physically impossible for Sawyer to move from it's pick and place locations. I have a Harmo robot placing objects onto the frame and Sawyer puts them into boxes that are also on the same frame. I had problems with getting the landmark to work in the beginning so I've never used it since. I was never able to figure it out. The first time it happened I recalibrated and it remained the same. The origin seemed to have shifted in the x-direction. So I thought ok, it must be either within Sawyer's encoders or maybe there is something weird in my program. I remade the program and it's origin was still off from the previous time but I continued on. When it did it shifted the second time, I never recalibrated, I just deleted the program and made a whole new one (very frustrating) but it went back to the previously shifted position, not the original origin from when I started programming it. I haven't ran it that much since, so I am not sure if it will do it again. Hopefully next week I will have my one of my end effectors made so that I can run for a while and see what happens.
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I'm having the same issue. The best run I got was 10 hours then I get a call saying that it was missing its pick/place points. At one point I thought maybe it was a duty cycle issue (i.e. the arm heated up & expanded) so we shut down the robot and then booted it back up after about an hour and it was still going to the same, incorrect points. I marked off the pad locations on the base but it doesn't look like the robot has been jostled or moved. At another point I thought that a crash had thrown off the encoders somehow but in this latest series of miss-picks/places the robot didn't crash before it started missing its points so that ruled that out. Each time it misses, I always end up having to shift along the x-axis by 1-4 mm. My theory right now is that since just about all of my positions are based on a landmark tag, maybe the fact that that's a variable plane is screwing with things (I am not actively using the landmark as part of daily operation I just have it there as a backup in case anything shifts so I can recover without a whole lot of effort). I just re-assigned the parent on all my points to the base frame (a static reference might help I'm hoping) but I won't know if that works for another 10 hours if history is any indicator. Are you using the landmark system or are you using the base frame as the parent to your points?
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Hello Kinne, When I check this photo the axis J1 is on the end of the axis. Please turn J1 more in the middle of the Axis. You can check this in the slide on the screen. If you have any question. Please write it down.
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Hey there, after transporting Sawyer it is not possible to twist the first joint. Sometimes the joints are pictured red (like in the pcture), but by twisting the relevant joint the problem was solved. This time it is not possible to twist the first joint at all. Any ideas? Best regards, Katharina
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robot.get_current_state() does not publish current state when using moveit_commander.RobotCommander()
saracasao replied to Peng Chang's topic in Robot
In my case, when i use joint_states:=/robot/joint_states to remap it's work. -
robot.get_current_state() does not publish current state when using moveit_commander.RobotCommander()
USC_robotics replied to Peng Chang's topic in Robot
Can anybody help? -
I would like to have my ROS Master running on a different system. Is it possible to set another system as the ROS Master instead of Sawyer?
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Hello, Your object is recognized (highlighted in green) but look that not all. Two edges are outside of green rectangle. Try to broaden object field, because all edges should be inside of field, green rectangle (during snapshot) cannot cut of any object edge. Also i have few question : 1. If you create surface in snapshot editor you put Landmark on the table or on your object ? 2. Does your object lie on the hard or soft base ? Cheers Lukas
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Hey, thanks again for your response. Unfortunately it's still not working. We pressed "Gehe zu" and set the similarity to 20% and the angles to -180 and 180, but still couldn't press "Verschieben". We tried over and over again, but without success. The problem might be that it says on the screen "Armcamera" instead of "Armcamera is proofing" (or similar). The camera does find the object though and there is the green rectangle around it. Best, Katharina and Max
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Hello Katharina, Max and Lukasz, I´m Steffen Scherf the Head of Application Engineering from Rethink Robotics GmbH Very nice description from Lukasz! If you have any question you can also contact me directly. s.scherf@rethinkrobotics.com
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For all future visitors, I have found the problem: It seems our company workstation have some kind of firewall or other networking settings that block the avahi mDNS service. To confirm my finding I installed vanilla ubuntu on an old workstation we had lying around. With that workstation it worked like a charm. Cheers
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Hello Katharina , This button is available only when your object was recognized by vision system. First press the button GEHE ZU - the robot goes to the position where you were doing the snapshot. If it does not help so.. I suppose that you have to change settings e.g. 1. similarity threshold 2. start angle 3. end angle or try to create snapshot and vision locate from the beginning and remember that you can not move your object during programming. Cheers Lukasz
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Hi Lukasz, Thanks a lot for the nice description! But we have a problem as you can see in the attached picture. We are not able to choose "relocate" if we test the snapshot. Do you have any idea? Thanks in advance! Katharina & Max
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Hi everyone! I'm trying to do motion planning pipeline with moveIt in my Sawyer but there are only tutorials in c++ by MoveIt!, when i run this tutorial i have a error with systaxis (but i'm sure that it's okay). do anyone some code or tutorial about it in python? or do anyone know if i need to do anything to copile code in c++? can anyone help me? thanks a lot!
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Hi! i´m trying to do motion planning pipeline but there only is tutorial in C++, Did you get some demo in c++ ? Thanks!!
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Hi again! I found solution It didn´t work beacuse i need a NTPserver to synchronize every machines. ( I connect every machines throught switch- no internet)
