STX-Controller: ER9

Technical properties

System requirements:

Ubuntu 16.04.
ROS - kinetic.
Moveit!.
Kinematic solver: Track-IK.

Introduction

The STX-Controller will allow us to move and communicate with our robots by writing (or editing) the 'moveit_node' or by moving the robot in the 'Rviz' simulation.

The communication is throw a TCP-Telnet/UDP protocols, in which the MC is the server and the other nodes: 'arm_controller', 'stx_joint_state_publisher' and 'moveit_node' are on the client side.

Installation and Setup

In order of working with our system we need to install ROS - Kinetic, MoveIt! and TRAC-IK Kinematics Solver.

ROS - Kinetic installation : http://wiki.ros.org/kinetic/Installation/Ubuntu
Moveit! installation : https://moveit.ros.org/install/
TRAC-IK Kinematics Solver installation : http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/trac_ik/trac_ik_tutorial.html

After installing the above create a new folder for the project.

Clone the repository to the folder by executing the following command:

 git clone https://github.com/servotronix/stxros.git

Next Enter 'stxros' folder, open the terminal and execute:

 catkin_make

Find the '.bashrc' file in your computer. (it is a hidden file in your 'home' directory, use 'ctl + h' to see hidden files)

In the '.bashrc' file add the following line:

source <path to setup.bash>

'path to setup.bash' is the absolute path to the 'setup.bash' file which located under 'devel' folder in your project.

Starting the system

If you haven’t already done so, make sure you’ve completed the steps in 'Installation and Setup'.

In order to start the robot movement you need to execute the following in your terminal window:

Make sure to be in the workspace directory. ('stxros')
Staring the ROS system with the 'er9' robot connected:
```
 roslaunch stx_control run_er9.launch 
```
In case a robot is not connected we provide a 'simulation' mod which can be started by executing:
```
 roslaunch stx_control simulation.launch
```

The system is up and ready to take commands!

Operating the system

In order to plan a new robot movement the 'moveit node' needs to be edited.

Adding the 'Moveit!' controller node to our system (from a new terminal window):
```
rosrun stx_control moveit_node.py
```

The 'moveit_node.py' node shows basic robot movement which can be executed by pressing the keys instructed on the 'moveit_node.py' terminal consul window.

The node could be edited or replaced in order to move the robot in different ways.

Homing procedure

If the robot has been turn off during movement execution or suffered from a different kind of unexpected error and now is not compatible with the 'Rviz' simulation we wil need to do manual 'Homing'.

Execute in a new terminal window the command (make sure to be in 'stxros' directory):
```
 python src/stx_control/scripts/GUI_homing.py
```

When the controller appears you will need to move each joint to the 'Home' position and after press 'Set joint!.

Once all the joints are set we can quit the homing controller and start planing.

Additional control tips:

Speed and IP setup:

Robot maximum movement speed and the MC-IP address are scalable and easy to change by editing the 'run_er9.launch' file.
- To change robot maximum speed edit the 'value' which is followed by the 'ROBOT-SPEED' parameter. (default is 15)
- To change MC IP edit the 'value' which is followed by the 'MC-IP' parameter. (default is 90.0.0.1)
Gripper control:

In order to control gripper from 'Rviz', go to 'Planing Request' and change the planing group label to 'gripper'.

Under 'Planing' label set the 'Select goal state' to be the wanted gripper position. After, press the 'Update' button and you are ready to execute the command with 'Plan and Execute' button.
Exit the system:

press 'Ctrl + c' on terminal window.

servotronix / stxros