About

The raeros_system package for ROS is necessary to start servo, rack and radialgripper server. It consists of:

• launch/system.launch - launches the configured module servers
• scripts/example.py - example to show basic functions
• launch/example.launch - inclued system.launch and starts a node with scripts/example.py

Installation

First install raepy which is an python based software interface and then install the ROS-packages which has raepy as dependency.

Install raepy dependency

If you want to modify the software-driver raepy, you have to build the sources in your workspace. In order to do that just clone the repository, build and install it.

git clone github.com/romzn/raepy.git
cd raepy

## Build repository and Install
python3 -m pip install --upgrade build
pip3 -m build
pip3 install .

otherwise just install the package via pip

pip3 install raepy

Install the ROS Packages

Install the packages from the modules you need. At the moment these modules are available:

• Vacuum-Module
• Radialgrippers
• Linear-Rack
• Servo

The following commands let you install all available modules.

cd ~/catkin_ws/src &&
git clone https://github.com/festo-se/raeros_system.git &&
git clone -b melodic https://github.com/festo-se/raeros_vacmod.git &&
git clone -b melodic https://github.com/festo-se/raeros_radialgripper.git &&
git clone -b melodic https://github.com/festo-se/raeros_rack.git &&
git clone -b melodic https://github.com/festo-se/raeros_servo.git &&
git clone -b melodic https://github.com/romzn/raeros_ledbutton.git &&
cd ../ &&
catkin_make 

Start the Servers

Each installed package includes an server which handle requests from a client. These Servers should be started in the RPI on the Rae.

Before starting you have to decide which modules shall be enabled. For this look inside the launch file: /launch/system.launch and choose the modules you need by setting the arguments to true.

<launch>
    <arg name="servo" default="true"/>
    <arg name="rack" default="true"/>
    <arg name="radialgripper" default="true"/>
    <arg name="vacmod" default="true"/>

    <node pkg="rae_servo_server" name="rae_servo_server" type="rae_servo_server.py" output="screen" respawn="false" if="$(arg servo)"/>
    <node pkg="rae_rack_server" name="rae_rack_server" type="rae_rack_server.py" output="screen" respawn="false" if="$(arg rack)"/>
    <node pkg="rae_radgripper_server" name="rae_radgripper_server" type="rae_radgripper_server.py" output="screen" respawn="false" if="$(arg radialgripper)"/>
    <node pkg="rae_vacmod_server" name="rae_vacmod_server" type="rae_vacmod_server.py" output="screen" respawn="true" if="$(arg vacmod)"/>
</launch>

Now connect to the Rae via ssh romzn@rae.local and raeisgreat as password. After successful login launch the system with:

roslaunch raeros_system system.launch

Run example

The example executes some basic functionalites which is recommended to study. It is located in scripts/example.py. To start it execute:

rosrun raeros_system example.py

It leads you through the calibration procedure. And shows vacuum and gripping capabilities.

Contribution

Feel free to contribute to the project and pin your issues.