Ovis moveit minimal #37

Leo-Dan · 2023-03-02T20:06:41Z

This is a draft PR about the work that has been done with our Ovis 6 DOF robot and MoveIT!
The goal of this project was to be able to jog our robot in the cartesian space in realtime with an Xbox controller.
The Cartesian space is a way of describing the pose ( position and orientation) of a robot's end-effector.
We wanted to do position incremental control.
We found out that Cartesian position control is not fit for real-time jogging like we want.
The next step for real time jogging would be cartesian velocity control of the end-effector.

Although, we can now use a RVIZ to dictate a pose to the robot, and he adopts it without issues.
A collision and singularity avoidance algorithm is in place, it makes the IK solutions reliable.
I think it would be usable for approach movements in competition via Rviz directly of via the controls we implemented with the Xbox controller.
The integration of this project to work on remote computer is not yet done.

Two main packages have been created for this project:

ovis_moveit package : is the one generated by moveit itself after giving it our robot URDF. It contains the move_group node, which is the main actor in the package.
ovis_jog_control: is the node that we created to interface moveit's work with our actual robot. It's like a upper level python interface to interact with the move group node and send out commands to the physical robot via an action server. UI commands would preferably pass through this node and be paralleled with implemented controls so that development can still be made in the future.

This is a top of my head description, so it is incomplete. I hope discussions will enrich this description.

Here is a launch schematic to help you understand the structure Alex put in place to test the robot system IRL and via gazebo simulator, or both at the same time !

…ovis_moveit_minimal

saxtot

First, let me say that you guys have done a great amount of good work here. I'm out of my league on a lot of things you use, but, from what I can see, this is well done.
As always, I have left multiple comments, but most of them are 0.5 second changes and others are for my own understanding. Don't get discouraged by these, you are 1 or 2 commits away from merging if no real problems are found by the other reviewers.
When time will allow it, I wouldn't say no to taking a couple minutes to talk about implementation decisions and the biggest problems you encountered.
Great effort here, I can't wait to see what you two do next!

saxtot · 2023-03-10T14:32:38Z

kinova_driver/src/kinova_api.cpp

@@ -329,7 +329,7 @@ int KinovaAPI::initializeKinovaAPIFunctions(KinovaAPIType connection_type)

    setTorqueInactivityType = (int (*)(int))initCommandLayerFunction("SetTorqueInactivityType");

-    setJointZero = (int (*)(int))initCommandLayerFunction("SetJointZero");
+    //setJointZero = (int (*)(int))initCommandLayerFunction("SetJointZero");


saxtot · 2023-03-10T14:34:56Z

ovis_bringup/config/ovis_controllers.yaml

+
+# ovis/gazebo_ros_control:  
+#   pid_gains:
+#     arm_joint_1: {p: 100, d: 0.01, i: 0.01, i_clamp: 1}
+#     arm_joint_2: {p: 100, d: 0.01, i: 0.01, i_clamp: 1}
+#     arm_joint_3: {p: 100, d: 0.01, i: 0.01, i_clamp: 1}
+#     arm_joint_4: {p: 100, d: 0.01, i: 0.01, i_clamp: 1}
+#     arm_joint_5: {p: 100, d: 0.01, i: 0.01, i_clamp: 1}
+#     arm_joint_6: {p: 100, d: 0.01, i: 0.01, i_clamp: 1}
+
+


I don't think we need it, but right now when you launch moveit with gazebo, there are some errors because the PID gains haven't been specified. This code fix the errors, but since the gains haven't been properly adjusted, it doesn't work the way it should.

I get it, there are still kinks to fix. Might want to add a comment detailing this with the keyword TODO while its still an issue. Extensions that highlight TODO in comments are pretty common and useful.

saxtot · 2023-03-10T14:38:59Z

ovis_bringup/config/ovis_controllers.yaml

+# Trajectory Controllers ---------------------------------------
+  joint_trajectory_controller:
+    type: position_controllers/JointTrajectoryController
+    joints:


Could the joints be an array? This is more from own knowledge, since it seems like the Kinova code itself also does joint by joint assignments.

saxtot · 2023-03-10T14:40:11Z

ovis_bringup/launch/ovis_arm.launch

  </node>

+  <!--  <include file="$(find ovis_robotiq_gripper)/launch/ovis_gripper.launch" /> -->


We could move the gripper's launch elsewhere, you can remove this in the mean time.

saxtot · 2023-03-10T14:41:53Z

ovis_bringup/launch/ovis_moveit.launch

+    <arg name="ovis" default="true"/> 
+    <arg name="moveit" default="true"/> 
+    <arg name="jog" default="true"/> 
+    <arg name="action" default="true"/> 


Why do you need the ability to not launch these things?

For debug (multiple terminal) and because we used to only have one launch file for sim/real.

Examples:

You don't want jog, if you don't have a controller (you only want to move with rviz)

You don't want action if you use gazebo (action server conflict)

You might want to launch ovis_arm in an other terminal so it stay active when testing

Might want to consider creating specific launch files or at least commenting this information in the file.

ovis_jog_control/scripts/ovis_control.py

saxtot · 2023-03-10T15:16:05Z

ovis_moveit_config/config/kinematics.yaml

+
+
+#kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin


IK fast should be faster, but it's always good to have an alternative option for comparison.

Might want to add a comment to detail that.

ovis_moveit_config/config/ros_controllers.yaml

saxtot · 2023-03-10T15:25:01Z

ovis_moveit_config/package.xml

+  <author email="[email protected]">Alexandre Lapointe</author>
+  <maintainer email="[email protected]">Alexandre Lapointe</maintainer>


Super ignorable nitpick: the club's email or our personal ones should outlive our institutional one. I don't mind if you use your own, but I doubt you will read the ÉTS one in a couple years, assuming they don't deactivate it.

We used to always put the club's email since after graduation there's about 0.001% chances that you'll touch this code again ;)

saxtot · 2023-03-10T15:25:41Z

ovis_moveit_config/package.xml

  <!-- This package is referenced in the warehouse launch files, but does not build out of the box at the moment. Commented the dependency until this works. -->
  <!-- <run_depend>warehouse_ros_mongo</run_depend> -->


Are these lines still relevant?

GLDuval

Same here, I'm not too sure what most of the code means, but I still have 2 small remarks for you to check out :) Good job overall!

ovis_bringup/launch/ovis_arm.launch

GLDuval · 2023-03-21T15:19:35Z

ovis_jog_control/scripts/ovis_action_server.py

+        # helper variables
+        r = rospy.Rate(1)
+        success = True
+        deg2rad = 180/3.14159265359


Use math.pi

ahmed-moubtahij · 2023-03-22T12:52:17Z

I keep receiving emails of replies here on [email protected], and I get an error page when I try to unsubscribe. Can someone remove me from the mailing list? Thanks

saxtot · 2023-03-22T15:40:30Z

I keep receiving emails of replies here on [email protected], and I get an error page when I try to unsubscribe. Can someone remove me from the mailing list? Thanks

Oh humm I have no idea why you would get those. I can't see anywhere where you have interacted with this or a reason why you would be subscribed. I removed a useless reviewer that I don't personally know, but that's the extent of where I can help. Maybe open a ticket with GitHub support?

AlexLapy and others added 30 commits November 21, 2022 18:28

Minimal launch/config for gazebo/rviz with moveit

8d2f584

Minimal config/launch

f9bcc35

Added missing files

2b3c976

Added 3 args for launching gazebo

ad2fbc7

Bottom launch was the right one

8500287

Small fix

1aab7c9

Gazebo arg paused to false

e5e849b

created jog launch file

0e06d42

Added ovis_jog_control package/launch/scripts

6f0c40f

Merge branch 'ovis_moveit_minimal' of github.com:clubcapra/ovis into …

bf6bd9d

…ovis_moveit_minimal

create package formalities WIP

eda85cb

create package formalities again

6eaa467

Cleanup CMakeLists/package

39f8fb5

Change node type and name

70f5bcd

Changed scaling input and planning time

b7e2bf0

remove useless prints

09cc694

establish a action client

570a48e

forgot the .py

34179d4

removed by default

9fdeebc

Changed the action server name

4a454cf

New launch file for moveit in bringup

b2d0d88

New launch file for moveit in bringup

afe67b6

Fix Rviz/Jog conflict

4425a12

Testing for a better launch file structure

acceb12

Added CMake/xml for new packages

eafe193

Added CMakeLists and xml for packages rviz/moveit

62bbb3a

Added action server scripts to CMake

23edbd4

Updated ovis_arm with new robot ip

0178e9f

Changed home position for testing moveit

38067d3

Update with master change

d291ef3

Leo-Dan requested review from 0bnoxious, Leuchak, SimonR99, benmalenfant, Caprurial, alex2603, GLDuval, CloeD, myriamlacroix, saxtot, kcrackhead and a team March 2, 2023 20:06

Leo-Dan assigned AlexLapy and Leo-Dan Mar 2, 2023

saxtot removed request for a team, AlexBrochu, lit-af and 0bnoxious March 3, 2023 03:54

lvanasse removed their request for review March 5, 2023 22:06

saxtot requested changes Mar 10, 2023

View reviewed changes

Some cleanup & changed transpose to inv. Rip stash

df1222d

GLDuval requested changes Mar 21, 2023

View reviewed changes

Remove some comments and added math function

cb1f2a4

saxtot removed the request for review from Caprurial March 22, 2023 15:32

saxtot removed the request for review from myriamlacroix March 22, 2023 15:40

This was referenced May 17, 2023

Move-robot-ip-address-configuration-to-ros-launch-file-in-kinova-driver #42

Open

remove trailing white space on all files #43

Merged

Replaces the joint names "ovis_joint_X" with "arm_joint_X" #44

Closed

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Ovis moveit minimal #37

Ovis moveit minimal #37

Leo-Dan commented Mar 2, 2023

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AlexLapy Mar 18, 2023

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lit-af Apr 4, 2023

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GLDuval left a comment

GLDuval Mar 21, 2023

ahmed-moubtahij commented Mar 22, 2023

saxtot commented Mar 22, 2023

		</node>

		<!-- <include file="$(find ovis_robotiq_gripper)/launch/ovis_gripper.launch" /> -->



		#kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin

		<author email="[email protected]">Alexandre Lapointe</author>
		<maintainer email="[email protected]">Alexandre Lapointe</maintainer>

		<!-- This package is referenced in the warehouse launch files, but does not build out of the box at the moment. Commented the dependency until this works. -->
		<!-- <run_depend>warehouse_ros_mongo</run_depend> -->

Ovis moveit minimal #37

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Ovis moveit minimal #37

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ahmed-moubtahij commented Mar 22, 2023

saxtot commented Mar 22, 2023