台達機械手臂IMP3整合ROS2 - HackMD

<style> .red {color: red;} </style> <style> .sol {color: green; font-weight: bold;} </style> # 台達機械手臂IMP3整合ROS2 ###### tags: `vsclab` :arrow_backward: 回到 [**2023 VSCLab 温梓傑交接資料**](https://hackmd.io/fH9acJ0lTbKa5WOxYPA9UA) :::spoiler Outline [toc] ::: # Git Config ``` user.email=n26104256@gs.ncku.edu.tw user.name=112-VSCLAB.Wun ``` # Installation * [安裝 Win10 ROS2-humble](https://hackmd.io/1-3Kw98CSSirML59XAK2MA#Win10) # Practices of [Official Docs](https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries.html) :::spoiler (2022/9/26) [Using colcon to build packages](https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Colcon-Tutorial.html#create-a-workspace) :::danger **[colcon build Error]**: [this step](https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Colcon-Tutorial.html#build-the-workspace) ```bash # Input colcon build --symlink-install --merge-install # Output ROS2 error: can‘t find examples_rclcpp_minimal_subscriber/Release/wait_set_subscriber ``` * [Github issue](https://github.com/ros2/examples/issues/344) * [Solution](https://www.reddit.com/r/ROS/comments/wxkfes/colcon_build_failed_in_example_failed_examples/) 修改 src\examples\rclcpp\topics\minimal_subscriber\CMakeLists.txt ::: :::spoiler (2022/9/27) [Creating a workspace](https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Creating-A-Workspace/Creating-A-Workspace.html#creating-a-workspace) :::danger **[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 ::: :::spoiler (2022/9/27) [Writing a simple publisher and subscriber (C++)](https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Writing-A-Simple-Cpp-Publisher-And-Subscriber.html#writing-a-simple-publisher-and-subscriber-c) :::warning **[Visual Studio Code IncludePath Issue with ROS headers]** ![](https://i.stack.imgur.com/XCDh5.png) * [Solution](https://blog.csdn.net/Epoch_saber/article/details/121684018) ``` # .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 } ``` ::: :::spoiler (Skip) [Writing a simple publisher and subscriber (Python)](https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Writing-A-Simple-Py-Publisher-And-Subscriber.html#writing-a-simple-publisher-and-subscriber-python) ::: :::spoiler (2022/9/28) [Writing a simple service and client (C++)](https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Writing-A-Simple-Cpp-Service-And-Client.html#writing-a-simple-service-and-client-c) ::: :::spoiler (Skip) [Writing a simple service and client (Python)](https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Writing-A-Simple-Py-Service-And-Client.html#writing-a-simple-service-and-client-python) ::: --- ## Integrate IMP3 code with ROS2 packages #### Create workspace and package ```bash # 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` 1. Update the package descriptioin 2. Update your valid email 3. Update license ```xml=6 <description>Delta Robot with ROS2</description> <maintainer email="vsclab.youbot@gmail.com">Delta Robot</maintainer> <license>Apache License 2.0</license> ``` #### Copy IMP3 code 1. Header Files (.h/.hpp): `delta_ros2_ws/src/delta/include/delta` 2. 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: [](https://github.com/colcon/colcon-cmake/issues/67#issuecomment-1104434793) ``` 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](https://answers.ros.org/question/356880/how-to-disable-desktop-notifications-for-colcon/?answer=356881#post-id-356881) ``` $ 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](https://answers.ros.org/question/386462/including-custom-header-file-in-ros2-cmakelist/?answer=386715#post-id-386715) ```cmake=23 # 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") ``` * :::spoiler References 1. [CMake Tutorial](https://youtu.be/PLhJwDqzPU0) ::: #### [x] Include static/dynamic library * [Solution](https://stackoverflow.com/a/14078232/11781780) ```cmake=36 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}) ``` * :::spoiler References 1. [Simplified CMake Tutorial](https://youtu.be/mKZ-i-UfGgQ) 2. [Creating and Linking Static Libraries](https://youtu.be/t5TfYRRHG04) 2. [Creating and Linking Shared Libraries](https://youtu.be/mUbWcxSb4fw) #### [o] Build custom library with ros dependencies ```cmake 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>) ``` * :::spoiler References 1. [ament_cmake user documentation - Adding files and headers](http://docs.ros.org/en/humble/How-To-Guides/Ament-CMake-Documentation.html#adding-files-and-headers) ::: #### [o] Compiler Warning (level 1) C4819 * [Solution](https://www.cnblogs.com/Steven-HU/p/14547749.html) > 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。 :::spoiler * [探究Visual Studio中的乱码问题](https://blog.csdn.net/no_say_you_know/article/details/126695461?spm=1001.2101.3001.6650.1&utm_medium=distribute.pc_relevant.none-task-blog-2%7Edefault%7EAD_ESQUERY%7Eyljh-1-126695461-blog-121911771.pc_relevant_3mothn_strategy_and_data_recovery&depth_1-utm_source=distribute.pc_relevant.none-task-blog-2%7Edefault%7EAD_ESQUERY%7Eyljh-1-126695461-blog-121911771.pc_relevant_3mothn_strategy_and_data_recovery&utm_relevant_index=2) * [MSVC中C++ UTF8中文编码处理探究](https://www.cnblogs.com/Esfog/p/MSVC_UTF8_CHARSET_HANDLE.html) ::: # Program Descriptions ``` ``` # 開發過程 ## Joint State Message * [sensor_msgs/JointState Documentation](http://docs.ros.org/en/noetic/api/sensor_msgs/html/msg/JointState.html) * [ROS URDF(五): sensor_msgs::JointState 消息类型的赋值](https://blog.csdn.net/bbtang5568/article/details/108613582) * [ROS2 時間格式](https://answers.ros.org/question/287946/ros-2-time-handling/?answer=287949#post-id-287949) # Some Tricks * [Win10 Command Line alias](https://superuser.com/a/560583) # 台達機械手臂緊急停機SOP :::info :information_source: **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 ::: ```mermaid graph TD; 緊急停機旋鈕壓下-->關閉控制箱總電源-->執行清命令程式-->開啟控制箱總電源-->旋開緊急開關-->按下藍色RESET鈕-->一人先扶著手臂,另一人再按下ServoON-->手臂復位-->ServoOFF ``` # 在兩台虛擬機之間用ROS2溝通 > :key: ros2 communication between two virtual machines ```bash # 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 ``` :::spoiler 參考教學 * [ROS2 Multiple Machines Tutorial (including Raspberry Pi)](https://roboticsbackend.com/ros2-multiple-machines-including-raspberry-pi/) * [Concepts / About-Domain-ID - ROS2 Official Tutorials](https://docs.ros.org/en/humble/Concepts/About-Domain-ID.html) * [使用命令列設定Windows環境變數](https://shaochien.gitbooks.io/command-line-and-environment-variable-tutorial/content/environment-variable.html) :::