How to start a simulation - augmentedfabricationlab/fabtory_fabrication_control GitHub Wiki
- for the simulations we use Docker containers to run ROS. For further explanation please read COMAS FAB
- open your fabtory_fabrication_control folder in Visual Studio Code.
- docker -> ros-systems already stores predefined docker containers which prevents you to build an own docker image.
How to start my virtual simulation in RobotStudio
- To make your virtual simulation run select the moveit_simulation_and_virtual_controller and compose the docker-comopose-yml with a right-click up.
- With the running containers you can then access the graphic user interface.
- Make sure that your robot model is loaded in your grasshopper file. If you are correctly connected to ROS your ros_client would be set as True
- in RobotStudio load your FlexPendant and start the simulation:
,
Run the Test Text File in RobotStudio
- in Visual Studio Code you find the
welcome_fabtory.py
viafabtory_fabrication_control > tests > welcome_fabtory.py
- Run the Code. Your Virtual Controller is sending
T_ROB1 -> RRC Main
T_CTRL -> RRC Main
T_RX -> RRC Main
T_TX -> RRC Main
T_CTRL -> RRC Connected
T_ROB1 -> Welcome TUM to RRC ;)
- Message Output in RobotStudio looks as following:
How to start my real simulation with the robot
- to connect to the real controller of the ABB robot compose the moveit_simulation_and_real_controller -> docker-comopose-yml with a right-click up.
- plug in the ethernet cable to access the real controller
- in RobotStudio connect with the real controller via Controller -> Add Controller -> One Click Connect. Now you will have another station being added to your Controller Tab, your real controller (6700-127534) and the virtual controller (v6700-127534)
- Make sure you update your end effector tool in the real controller with the same one you have in your virtual controller
- for further information also see section How do I set up a new end effector tool
How to stop docker
- open your fabtory_fabrication_control folder in Visual Studio Code.
- select the moveit_simulation_and_virtual_controller or the moveit_simulation_and_real_controller and compose the docker-comopose-yml with a right-click down.
How to troubleshoot failing connectivity to the virtual / real controller
-
You can send the same text file to test if your connection to the real controller works. Please check the section above. Run the text test file
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If your physical teach pendant doesn't give you any feedback on the sent code attach a shell to the correct docker container in VSC to show your communication with ROS-Bridge
root@833ac27874c7:~/catkin_ws/src# cd ..
root@833ac27874c7:~/catkin_ws# source devel/setup.bash
root@833ac27874c7:~/catkin_ws# rostopic list
- example: check if you are connected to the ROS Client, select
rostopic echo /connected clients
from the rostopic list. This should give you the same IP back which you use for your ROS Client in your grasshopper file:172.28.0.1