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tera_iiwa_ros

To set up iiwa

  • This package launches the robot controller in torque control modes. That means you are sending torques commands now rather than position or velocities: GOTTA be more CAREFULL
  • If you'r:
    • using End-effector, make sure you are using FRIOverlayGripper on the SmartPad.
    • if no end-effector, use FRIOverlay. Otherwise robot can go crazy due to inaccurate EXTERNAL TORQUES on the joint sensors.
  • When using torque mode or Cartesian Impedance controller: (V.Important). Stiffness values should be 0.

Gazebo

roslaunch iiwa_gazebo iiwa_gazebo.launch controller:=CartesianImpedance_trajectory_controller model:=iiwa14

This launch iiwa_setup and iiwa_tools to setup the robot in the space and configure servers like FK, IK, Jacobians, Gravity, etc. to use in the simulations or others. Check iiwa_ros for more details

iiwa_setup contains a launch file to upload robot urdf to the parameter server. if you are changing the end-effector/ no end effector: launch edits: iiwa14_tool_upload.launch/iiwa14_upload.launch

on KUKA LBR

roslaunch iiwa_driver iiwa_bringup.launch controller:=CartesianImpedance_trajectory_controller model:=iiwa14

This launch iiwa_bringup, iiwa_setup and iiwa_tools to setup the robot in the space and configure servers like FK, IK, Jacobians, Gravity, etc. to use in the simulations or others. Mostly these things are handeled through KUKA controller itself.

Command robot

Two ways:

  • Best is to use cartesian_trajectory_controller:

roslaunch tera_iiwa_ros cam_viz.launch

rostopic pub --once cartesian_trajectory_generator/new_goal... tab tab

  • to move the robot

rosrun tera_iiwa_ros plan_send_cartesian_commands

  • AVOID USING THIS> CHECK POSE FILTER IN CONFIG IN iiwa_ros/iiwa_control/config/iiwa_control.yaml rostopic pub --once /iiwa/CartesianImpedance_trajectory_controller/reference_pose... tab tab MAKE SURE, COMMANDING POSE IS NOT VERY FAR.

Safety

  • Safety configuration is equipped with
    • Joint limits
    • Cartesian Speed limit (200mm/sec)
  • Limit to the commanding torque values Through URDF torque limits (Need to check again)
  • Can also impose max. velocities to the joints through Safety configuration and URDF limits. (NOT YET IMplEMENTED)

Get Wrench

roslaunch tera_iiwa_ros get_wrench.launch

in simulation: roslaunch tera_iiwa_ros get_wrench_sim.launch

Commands

  • robot_setup roslaunch iiwa_gazebo iiwa_gazebo.launch controller:=CartesianImpedance_trajectory_controller model:=iiwa14

  • launch camera roslaunch realsense2_camera rs_camera.launch align_depth:=true filters:=pointcloud

  • eye in hand rosrun tera_iiwa_ros eye_in_hand

  • cartesian trajectory generator/Publisher mon launch cartesian_trajectory_generator trajectory_generator.launch mon launch cartesian_trajectory_generator publisher_demo.launch

  • filters on camera roslaunch pcl_tester filters_on_camera.launch

  • Marker detection/segmentation rosrun cv_trials roboflow_detection

  • Compute Poses rosrun testing ComputePoses

  • Avg out those poses rosrun cv_trials normal_estimation

  • transform poses rosrun testing tf_listener_test

  • run plan_send trajecotory rosrun tera_iiwa_ros plan_send_cartesian_commands

  • send commands to new_goal rostopic pub --once /cartesian_trajectory_generator/new_goal tab tab

  • BOOOOM

Icon

[Desktop Entry]
Version=1.0
Type=Application
Name=Terabotics
Icon=/home/robothz/Pictures/logo.svg
Exec=bash -c "source /opt/ros/noetic/setup.bash ; source /home/robothz/stuff_ws/devel/setup.bash; export ROS_IP=192.170.10.1 ; export ROS_MASTER_URL=HTTP://$ROS_IP:11311 ; python3 /home/robothz/gui_ws/Terabotics_switches.py ; read -p press"
Terminal=true
Type=Application

Save this file as Filename.desktop then mark its properties as executable.