platecrane_ros_packages

Installation

mkdir ~/sciclops_ws
cd ~/sciclops_ws

mkdir src
cd src
git clone https://github.com/AD-SDL/platecrane_ros_packages
git clone https://github.com/AD-SDL/wei_ros
cd ..
colcon build

Description

A repository for the Hudson Plate Stacker (Sciclops).

This package guides a user to remotely control the sciclops.

Sciclops is the main object for removing microplates from the stackers and placing them on the exchange platform.

Sciclops has 4 controllable axes and a gripper.

 

Z: Vertical axis
R: Base turning axis
Y: Extension axis
P: Gripper turning axis

 

Current Features

• Sciclops initialization
• Movements (move to preset points. ex: Neutral, Stack 1, etc.)
• Precise movements (move to certain point or certain distance)

User Guide

1. Find and setup port

   • Connect Sciclops to device with a serial to usb cable

   • Run following code in python script

     file_path = os.path.join(os.path.split(os.path.dirname(__file__))[0]  + '/SCICLOPS_logs/robot_client_logs.log')
     

2. Create ROS2 infrastructure

   • Install ROS2 and create ROS2 workspace https://docs.ros.org/en/humble/Installation.html

3. Git clone hudson_driver repository

   • cd into src folder In terminal:

     git clone https://github.com/AD-SDL/hudson_driver.git
     

4. Run Commands

   • In terminal

     colcon build
     
     source install/setup.bash
     
     ros2 run sciclops_ros_client sciclopsNode
     

   • Open new terminal

      ros2 service call /sciclops_actions sciclops_module_services/srv/SciclopsActions "{action_request: <command>}"
     

     Possible Commands

     • Get Plate 1
     • Get Plate 2
     • Get Plate 3
     • Get Plate 4
     • Get Plate 5
     • Home
     • Status

Updating the code

• cd into src folder
• git pull
• colcon build
• source install/setup.bash

Authors and Maintainers

• Sanjiv Parthasarathy
• Rafael Vescovi
• Eric Codrea
• Abe Stroka