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Run Application

**WARNING: This application uses xml launch files which is only supported in ROS Eloquent, make sure to have installed ** apt install ros-eloquent-launch-xml

System Startup

On Hardware

Prior to running you must've build the ROS1 driver and ROS bridge as described in ../ROS1_BRIDGE_BUILD_INSTRUCTIONS.md

  1. Run ROS1 driver

    source /opt/ros/melodic/setup.bash
cd ~/crs_ros1_ws/
source devel/setup.bash
roslaunch crs_support_ros1 crs_startup.launch

    You should see the UR teach pendant showing "Running" under the program tab

  2. Run ROS Bridge workspace

  • Open another terminal window and navigate to ROS Bridge workspace and run the following lines in the terminal 
    source /opt/ros/melodic/setup.bash
source /opt/ros/eloquent/setup.bash
cd ~/crs_ros_bridge_ws/ 
source install/local_setup.bash
ros2 launch crs_bridge_support combined_bridge.launch.py

  1. Run ROS2 Application

  • Open a third terminal window and navigate to ROS2 workspace and run the following lines in the terminal 
    source /opt/ros/eloquent/setup.bash
cd ~/crs_ws
source install/local_setup.bash
ros2 launch crs_application crs.launch.xml sim:=false
    This last command will launch the RVIZ application where you should be able to see the robot in the mockup cell along with the user interface to control the application.

In Simulation

  • Source the workspace

    source /opt/ros/eloquent/setup.bash
cd ~/crs_ws
source install/local_setup.bash

  • Start Run the crs.launch.xml launch file

    ros2 launch crs_application crs.launch.xml

    This last command will launch the RVIZ application where you should be able to see the robot in the mockup cell along with the user interface to control the application. It will start the SM and all of the required nodes. When initialization is complete the application will go into the Ready::Wait_User_Cmd

System Usage

Using GUI

  • Select the part to be processed in the "Load Part" Screen
  • On the right panel of the "Load Part" Screen select the toolpath configuration file
  • Press "Load Selected Part" button and wait for the part to load in RVIZ
  • Once loaded hit "Approve" button to move to next state load part->registration->planning->execution

Using Command line

  • Query the current state Open a new terminal and run the following:

    ros2 topic echo /crs/current_state

    You should see the current state id printed on the terminal repeateadly

  • Query available actions in the current state From another terminal run the following

    ros2 service call /crs/get_available_actions crs_msgs/srv/GetAvailableActions 'search_pattern: "user"'

    The response may look as follows:

    response: crs_msgs.srv.GetAvailableActions_Response(action_ids=['user_done', 'user_approves'], succeeded=False, err_msg='')

    This means the the actions "user_done" and "user_approves" are valid and can be executed.

  • Execute an action In a new terminal run the following:

    ros2 service call /crs/execute_action crs_msgs/srv/ExecuteAction 'action_id: user_approves'

    If the current state allows that action then you should see the SM transition to another state