台達機械手臂IMP3整合ROS2

tags: `vsclab`

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Outline

台達機械手臂IMP3整合ROS2
Git Config
Installation
Practices of Official Docs
- Integrate IMP3 code with ROS2 packages
Troubleshoots
- Colcon build in Win10
  - Settings of colcon and debug
  - CMake issues
Program Descriptions
開發過程
- Joint State Message
Some Tricks
台達機械手臂緊急停機SOP
在兩台虛擬機之間用ROS2溝通

Git Config

user.email=n26104256@gs.ncku.edu.tw
user.name=112-VSCLAB.Wun

Installation

安裝 Win10 ROS2-humble

Practices of Official Docs

(2022/9/26) Using colcon to build packages

[colcon build Error]: this step

# Input
colcon build --symlink-install --merge-install

# Output
ROS2 error: can‘t find examples_rclcpp_minimal_subscriber/Release/wait_set_subscriber

Github issue
Solution
修改 src\examples\rclcpp\topics\minimal_subscriber\CMakeLists.txt

(2022/9/27) Creating a workspace

[colcon build error]

C:\dev\ros2_ws>colcon build --merge-install --packages-select my_package
[1.125s] colcon.colcon_core.package_identification WARNING Failed to parse ROS package manifest in 'src\my_package': Error(s) in package 'src\my_package\package.xml':
Invalid email "Delta Robot@todo.todo" for person "Delta Robot"
Starting >>> my_package
--- stderr: my_package
Error parsing 'C:/dev/ros2_ws/src/my_package/package.xml':
Traceback (most recent call last):
  File "C:/dev/ros2_humble/ros2-windows/share/ament_cmake_core/cmake/core/package_xml_2_cmake.py", line 150, in <module>
    main()
  File "C:/dev/ros2_humble/ros2-windows/share/ament_cmake_core/cmake/core/package_xml_2_cmake.py", line 53, in main
    raise e
  File "C:/dev/ros2_humble/ros2-windows/share/ament_cmake_core/cmake/core/package_xml_2_cmake.py", line 49, in main
    package = parse_package_string(
  File "C:\Python38\lib\site-packages\catkin_pkg\package.py", line 788, in parse_package_string
    pkg.validate(warnings=warnings)
  File "C:\Python38\lib\site-packages\catkin_pkg\package.py", line 330, in validate
    raise InvalidPackage('\n'.join(errors), self.filename)
catkin_pkg.package.InvalidPackage: Error(s) in package 'C:/dev/ros2_ws/src/my_package/package.xml':
Invalid email "Delta Robot@todo.todo" for person "Delta Robot"
CMake Error at C:/dev/ros2_humble/ros2-windows/share/ament_cmake_core/cmake/core/ament_package_xml.cmake:95 (message):
  execute_process(C:/Python38/python.exe
  C:/dev/ros2_humble/ros2-windows/share/ament_cmake_core/cmake/core/package_xml_2_cmake.py
  C:/dev/ros2_ws/src/my_package/package.xml
  C:/dev/ros2_ws/build/my_package/ament_cmake_core/package.cmake) returned
  error code 1
Call Stack (most recent call first):
  C:/dev/ros2_humble/ros2-windows/share/ament_cmake_core/cmake/core/ament_package_xml.cmake:49 (_ament_package_xml)
  C:/dev/ros2_humble/ros2-windows/share/ament_lint_auto/cmake/ament_lint_auto_find_test_dependencies.cmake:31 (ament_package_xml)
  CMakeLists.txt:32 (ament_lint_auto_find_test_dependencies)


---
Failed   <<< my_package [0.72s, exited with code 1]

Summary: 0 packages finished [1.16s]
  1 package failed: my_package
  1 package had stderr output: my_package

Solution:
C:/dev/ros2_ws/src/my_package/package.xml改成有效 email

(2022/9/27) Writing a simple publisher and subscriber (C++)

[Visual Studio Code IncludePath Issue with ROS headers]

Solution

# .vscode/c_cpp_properties.json
{
    "configurations": [
        {
            "name": "Win32",
            "includePath": [
                "${workspaceFolder}/**",
                "C:/dev/ros2_humble/ros2-windows/include/**"
            ],
            "defines": [
                "_DEBUG",
                "UNICODE",
                "_UNICODE"
            ],
            "windowsSdkVersion": "10.0.17763.0",
            "compilerPath": "C:/Program Files (x86)/Microsoft Visual Studio/2017/Professional/VC/Tools/MSVC/14.16.27023/bin/Hostx64/x64/cl.exe",
            "cStandard": "c17",
            "cppStandard": "c++17",
            "intelliSenseMode": "windows-msvc-x64"
        }
    ],
    "version": 4
}

(Skip) Writing a simple publisher and subscriber (Python)

(2022/9/28) Writing a simple service and client (C++)

(Skip) Writing a simple service and client (Python)

Integrate IMP3 code with ROS2 packages

Create workspace and package

# Create a workspace
mkdir delta_ros2_ws\src
cd delta_ros2_ws\src

# Create a ros2 package named "delta" and dependencies
ros2 pkg create --build-type ament_cmake delta --dependencies rclcpp std_msgs example_interfaces

Modify `src/delta/package.xml`

Update the package descriptioin
Update your valid email
Update license



  <description>Delta Robot with ROS2</description>
  <maintainer email="vsclab.youbot@gmail.com">Delta Robot</maintainer>
  <license>Apache License 2.0</license>

Copy IMP3 code

Header Files (.h/.hpp): delta_ros2_ws/src/delta/include/delta
Source Files (.cpp): delta_ros2_ws/src/delta/src

Troubleshoots

Colcon build in Win10

Settings of colcon and debug

[o] No error message output while building

Solution:

colcon build --event-handlers console_direct+

[o] MVC output garbled message

Solution: Switch Win10 Language preferences to "English, United States"

[o] Annoying notifications after build success/failure

Solution: Set Environment Variable

$ set COLCON_EXTENSION_BLOCKLIST=colcon_core.event_handler.desktop_notification

CMake issues

[o] Include custom header files in ROS2 package

Solution: 修改 src/[package_name]/CMakeList.txt




# Custom Lib
include_directories(include)              # Find the include directories
add_library(savedata src/SaveData.cpp)    # add library definition
target_link_libraries(main savedata)      # Link to the executable ("main")

References
1. CMake Tutorial

[x] Include static/dynamic library

Solution


set(IMC_LIB_PATH "C:/Program Files (x86)/ITRI/IMP3/IDDL/Library/VC/IMC3Driver.lib")  # At Program Files(x86)
target_link_libraries(main ${IMC_LIB_PATH})

References

[o] Build custom library with ros dependencies

add_library(motioncard src/delta/MotionCard.cpp)  # Compile "MotionCard.cpp"
ament_target_dependencies(motioncard rclcpp std_msgs example_interfaces)
target_include_directories(motioncard
  PUBLIC
    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
    $<INSTALL_INTERFACE:include>)

References
1. ament_cmake user documentation - Adding files and headers

[o] Compiler Warning (level 1) C4819

Solution
1. 打开 Control Panel
2. 选择 Region (and Language)
3. 选择 Administrative 页签
4. 在 Language for non-Unicode programs 区域点击 "Change System Locale" 按钮
5. 设置 Current system locale，比如 English (United States)。
6. 点击 "OK" 保存。

Program Descriptions

開發過程

Joint State Message

Some Tricks

Win10 Command Line alias

台達機械手臂緊急停機SOP

Image Not Showing Possible Reasons

The image file may be corrupted
The server hosting the image is unavailable
The image path is incorrect
The image format is not supported

Learn More →

先備知識

命令	行為	備註
Servo ON	馬達鬆煞車
Servo OFF	馬達拉煞車

控制箱總電源上電時，會先進行 Servo OFF (煞車) 動作

在兩台虛擬機之間用ROS2溝通

Image Not Showing Possible Reasons
The image file may be corrupted
The server hosting the image is unavailable
The image path is incorrect
The image format is not supported
Learn More →

ros2 communication between two virtual machines

# Step 1: 確認兩台VM的IP位址
$ ip a        # Ubuntu 20.04 up
$ ipconfig    # Windows

# Step 2: 互相ping對方
$ ping 192.168.aaa.aaa -c 3 # Ubuntu ([-c] 代表ping的次數)
$ ping 192.168.bbb.bbb      # Windows

# Step 3: 設定相同號碼的$ROS_DOMAIN_ID
$ export ROS_DOMAIN_ID=5    # 設定Ubuntu環境變數
$ echo $ROS_DOMAIN_ID       # 查看Ubuntu環境變數
> 5
$ set ROS_DOMAIN_ID=5       # 設定Windows環境變數
$ echo %ROS_DOMAIN_ID%      # 查看Windows環境變數
> 5

參考教學