ibois-epfl / COMPAS_ABB6700_IRBT

Instructions

abb_experimental

• Clone repo "abb_experimental" https://github.com/ros-industrial/abb_experimental

• Copy similar model and change names to 6700_175_305 (two urdf xacro files )

• Create .stl files for 3 links -> C:\IBOIS57_Code\Software\abb_experimental\abb_irb6700_support\meshes\irb6700_175_305\visual

• Create .stl files for low poly geometry -> C:\IBOIS57_Code\Software\abb_experimental\abb_irb6700_support\meshes\irb6700_175_305\collision

• Coordinates of each axis file -> C:\IBOIS57_Code\Software\abb_experimental\abb_irb6700_support\urdf\irb6700_175_305.xacro

• finish up the moveit config (https://gramaziokohler.github.io/compas_fab/latest/examples/03_backends_ros/08_ros_create_moveit_package_from_custom_urdf.html):

• start - reference file: C:\IBOIS57_Code\Software\abb_experimental\abb_irb6700_support\urdf\irb6700_175_305_macro

• self-collisions - skip

• virtual joints - Virtual joint Name: "fixed_base", Parent Frame name: "world"

• planning groups - from base_link to tool_0

• robot poses - Pose name: "home", Group name: "manipulator"

• end effectors - skip

• passive joints - skip

• author information - write name and email

• configuration files - "/root/catkin_ws/src/abb_experimental/abb_irb6700_175_305_moveit_config" , then click generate package and manually place outside the

• Add the 3 lines in the docker.yml

• check if the package is running in compas_fab, mainly you need to check if meshes are correctly rotating:

• cross check results of the IK solver against the values of RobotStudio (this could be done programmatically, using compas_fab to calculate IK solutions from frames and then using compas_rrc to control a RobotStudio virtual controller and verify that both are a match).

• submit a pull request to ROS-Industrial to add the new model to the upstream abb_experimental repository.

Linear track

• create a new urdf in vs code and moveit: abb_irbt6004_670_support
• the mesh of the track has to load

Two robots + track

• setting up urdf

compas custom repository for IBOIS robot control

• create repository "COMPAS_ABB6700_IRBT" -> https://github.com/ibois-epfl/COMPAS_ABB6700_IRBT/blob/main/docker-compose.yml
• create file docker-compose.yml
• install XLaunch, by download from
• compose docker, now the move it should open: https://sourceforge.net/projects/vcxsrv/
• create a new support package for the linear axis + the robot mounted on it
• reduce mesh size for the track and the robot

robot studio

• setup a meeting with Fleischmann Philippe <[e-mail] and put cc Gonzalo Casas for the robot studio

Errors:

• piston axis is wrong: