Packages to operate Archie Jnr
This package contains all the urdf and description files required to opreate Archie Jnr with the UR5s with a number of possible sensors attached. The control of the Archie Jnr defaults to ur_moveit_controller but this can be swapped for other means of moving the arm if required.
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These instructions will get you a copy of the project up and running on your local machine for development and testing purposes. See deployment for notes on how to deploy the project on a live system.
Base package dependencies
1) Ubuntu 20.04 - ROS Noetic - requires python 3 support
2) Pull master version of cares_msgs
a) cd ~/catkin_ws/src
b) git clone https://github.com/UoA-CARES/cares_msgs.git
A step by step guide on how to get Archie Jnr up and running.
Pull down packages related to the UR5 arm. Follow instructions as laid out under "Building" here: https://github.com/UniversalRobots/Universal_Robots_ROS_Driver. NOTE: We are using catkin_ws so do not create a new one - start with "clone the driver" into catkin_ws/src
If the arm has not been used before then follow instructions on extracting the calibration file (note: this has been done for the UoA and UoW UR5 already). The arm calibration is placed under the location archie_jnr/archie_jnr_description/config/(a or b).
The controller for Archir Jnr is the simple ur_moveit_controller.
Install the ur_moveit_controller: https://github.com/maraatech/ur_moveit_controller
Depending on which sensor/s configuration you are using follow the corrosponding sensor install instructions:
Stereo Cameras Pylon Cameras: https://github.com/UoA-CARES/pylon_camera Basler Cameras:
Zivid: TBC
Realsense: TBC
Clone the package into the catkin directory you are using, presumed here to be "~/catkin_ws"
cd ~/catkin_ws/src
git clone https://github.com/maraatech/archie_jnr.git
Build the package with catkin_make in the source directory
cd ~/catkin_src/
catkin_make
Archie Jnr requires calibration in order to align the sensor and arm before it can be used for other tasks.
Install the Stereo Hand Eye Calibration package: https://github.com/UoA-CARES/cares_hand_eye_calibration
Stereo and Hand eye calibration is automated for the Archie Jnr platform. To conduct the calibration run the follow launch files below. The calibration target and other parameters can be adjusted within these launch files. DO NOT ADJUST THE LAUNCH FILES IN cares_hand_eye_calibration.
#Brings up the archie_jnr platform
roslaunch archie_jnr_bringup archie_bringup.launch
#Run the stereo calibration (NOTE: run one after the other to avoid arm collisions)
roslaunch archie_jnr_bringup archie_stereo_calibrate_a.launch
roslaunch archie_jnr_bringup archie_stereo_calibrate_b.launch
The calibration files will be saved under ~/calibration_images/YYYY_MM_DD_HH_MM_SS as calibration.json (stereo calibration) and stereo_handeye.yaml (stereo_handeye calibration). If you are happy with the calibrations place the calibration.json under pylon_camera/config and stereo_handeye.yaml under archie_jnr/archie_jnr_description/config/(a or b).