Folie 1 Manual Powerball CANOpen Driver

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SCHUNK Modular Robotics

ROS Drivers for LWA 4.P und LWA 4.D

Superior Clamping and Gripping

Introduction to ROS

ROS –Technical Details

ROS Support of SCHUNK components

Installation and Operation Instructions

Technical Details CANOpen-Driver

LWA 4.P (6-DOF Powerball Arm)

LWA 4.D (7-DOF Dextrous Arm)

Contents

Introduction to ROS

Reinvention of the Wheel

Little Commonality

Short Lifespan

Inability to Compare Results

ROS addresses these

Research in robotics

ROS –Robot Operating System

•ROS = Robot Operating System

•„ROS is an open-source, meta-operating system for your

robot.“ [ROS-wiki]

•ROS is a “robot framework” [ROS-wiki]

www.ros.org/wiki/ROS/Introduction

ROS –Video

•5 years of ROS

http://youtu.be/PGaXiLZD2KQ

ROS –Robot Operating System

•What is ROS?

–Provides

•Hardware abstraction

•Low-level device control

•Communication layer with message-passing between processes

•Recursive package management and build system

•Runs primarily on Linux but is intended to be cross-platform

compatible to MAC OS X and Windows

–Content

•ROS core build and runtime system

•ROS packages, a collection of robotic algorithms

= + + +

Plumbing Tools Capabilities Ecosystem

ROS –Tools

plotting

graph visualization

diagnostics

Simulation/visualization

ROS –Tools

Single simulated components

Simulated sensors and actors, e.g.

Arm joints, hand

Cameras, laser scanners

Model of the whole robot

Kinematic and dynamic models of

hardware components

Environment model

ROS –Tools Simulation

http://www.ros.org/wiki/simulator_gazebo

ROS –Tools Bag files

•Format for saving and playing back ROS message data

•Record and replay sensor data for developing and testing

algorithms

http://www.ros.org/wiki/rosbag

ROS –Tools Visualization

•Robot Model

•Sensor data (laser scanner, point cloud)

•2D and 3D maps

•Markers

http://www.ros.org/wiki/rviz

ROS –Tools transformations library (tf)

•Tree of coordinate systems

•Defined by urdf (Robot

Description Language)

•Transformations between

all coordinate systems

available

•Generated automatically

out of /joint_states topic

http://www.ros.org/wiki/tf

= + + +

Plumbing Tools Capabilities Ecosystem

ROS –Capabilities

•State of the art algorithms

•Integration of available libraries

•Wide range of capabilities

Navigation

Perception

manipulation

Manipulation

Mobility and

Navigation

Perception

MoveIt!

= + + +

Plumbing Tools Capabilities Ecosystem

ROS –Community/Ecosystem

•Fast growing community

•De facto standard for

service robotics

ROS –Technical details

Three levels of ROS concepts

Filesystem Level

Packages

(Stacks)

Manifests

Messages

Services

Computational Graph

Level

Nodes

Master

Parameter Server

Topic communication

Service communication

Bags

Community Level

Distributions

Repositories

ROS-Wiki

Mailing Lists

Blog

Robot Operating System

http://ros.org/wiki/ROS/Concepts

ROS –Filesystem Level

•Packages

–Main unit for organizing software

–Typically one functionality, e.g. localisation or path planning

–Contains: runtime processes (nodes), libraries, datasets, configuration

files, …

•Stacks

–Collection of packages

–Aggregate functionality, e.g. navigation stack

–Releases and versioning

•Stack- and Package- Manifests (*.xml)

–Provide Metadata about a package/stack, e.g. license information and

dependencies to other packages/stacks

http://ros.org/wiki/ROS/Concepts

ROS –Filesystem Level

•Messages types (*.msg)

–Message descriptions, define data structures used for message

communication

–Language independent

•Services types (*.srv)

–Service descriptions, define request and response data structures used

for service communication

–Language independent

Header header

Std_msgs/String name

Geometry_msgs/Pose2D[] poses

Float64 x

Float64 y

Float64 theta

TargetPoses.msg Pose2D.msg

std_msgs/String name

Geometry_msgs/Pose2D pose

GetPose.srv

http://ros.org/wiki/msg, http://ros.org/wiki/srv

ROS –Computational Graph Level

•Nodes

–Processes to perform computation

–Usually many nodes at runtime

–Written by a ROS client library, e.g. roscpp, rospy, …

•Master

–Coordinating processes and communication

–Name registration and lockup

•Parameter Server

–Central location for storing data

•Messages

–Nodes communicate by passing messages

Client

Node a

Client

Node b

Node a

Node b

…

- - - XML/RPC

Master

roscore

http://www.ros.org/wiki/ROS/Technical%20Overview

ROS –Communication concepts –topics

•Topics (asynchronous streaming)

–Nodes can publish and subscribe to topics

–Multiple publisher and subscriber to one topic

–Decoupling between sender and receiver

–Works like a “chat room”

Node

Client a

Node

Client b

Topic 1

Topic 2

…

Publis

topic

Message data

flow

Subscrib

topic

Master

roscore

- - - XML/RPC

----- TCP/IP or UDP

http://www.ros.org/wiki/Topics

ROS –Communication concepts –services

•Services (synchronous communication)

–Request and reply interaction

–Dedicated connection between two nodes

–Works like a “telephone call” Master

roscore

Node

Client a

Node

Client b

Message data flow

response request

- - - XML/RPC

----- TCP/IP or UDP

http://www.ros.org/wiki/Services

ROS –Communication concepts –actionlib

•Goal description similar to message and

service definitions

•State-machine running on server and

client

#goal

std_msgs/String drink_name

---

#result

Geometry_msgs/Pose3D pose

---

#feedback

Int16 status

DetectBottle.action

http://www.ros.org/wiki/actionlib

ROS support of Schunk components

ROS for Schunk components

•Devices supported in ROS

•SDH (Schunk Dextrous Hand, SDH library)

•LWA (Lightweight Arm, M5API)

•Powerball (Powerball arm, CanOpen)

http://www.ros.org/wiki/schunk_modular_robotics

schunk_modular_robotics

schunk_power_cube

_chain schunk_sdh ipa_canopen

driver

packages

ROS messages and services,

e.g. JointTrajectory

HW HW

Low-level communication to

hardware,

e.g. CAN, CANOpen, RS232

SW Architecture

Driver node (schunk_sdh,

schunk_powercube_chain,

ipa_canopen_ros)

Configuration

- bus and device

- modul ids

Joint trajectory

controller

VelocitiesJoint states

Schunk_modular_robotics

Configuration

- max_vel

- max_acc

ROS world

JointTrajectoryAction

Init

Recover

Service

Topic

Action

Config

ROS components

Schunk_hardware_config

CanOpen Architecture

•C++ framework

•Enables communication with CANopen motor devices

•Uses the pcan device driver

•Consists of two parts

ipa_canopen

ipa_canopen_core ipa_canopen_ros

http://www.ros.org/wiki/ipa_canopen

Installation and Operation Instructions

•3 options of usage:

1. Use low-level drivers independent of ROS: ipa_canopen_core

2. Use low-level ROS-drivers: ipa_canopen_ros

3. Use full ROS package with trajectory controllers: schunk_robots

Installing ROS for Schunk components for Groovy

•Install Ubuntu 12.04

•Install ROS Groovy

http://www.ros.org/wiki/groovy/Installation/Ubuntu

•Download Schunk repositories to your ROS_PACKAGE_PATH

•mkdir <<YOUR ROS_PACKAGE_PATH>>, e.g. ~/git/schunk_robots

•cd <<YOUR ROS_PACKAGE_PATH>>

•rosinstall . https://raw.github.com/ipa320/schunk_robots/groovy_dev/groovy.rosinstall

•echo “export ROS_PACKAGE_PATH=<<YOUR ROS_PACKAGE_PATH>>:$ROS_PACKAGE_PATH” >>~/.bashrc

•Source ~/.bashrc

–Install additional dependencies

•sudo apt-get install ros-groovy-pr2-controllers ros-groovy-arm_navigation ros-groovy-arm-navigation-experimental ros-groovy-

audio-common ros-groovy-pr2-power-drivers ros-groovy-pr2-gui

–Build Schunk packages

•rosdep install schunk_robots

•rosmake schunk_robots

–Configure your hardware (Example for powerball)

•roscd schunk_hardware_config/powerball/config

•Modify canopenmaster.yaml, see slide 49

Installing ROS for Schunk components for Groovy

–Run driver (Example for lwa with M5API)

•roslaunch schunk_bringup powerball_solo.launch

–Move with dashboard (Example for lwa with M5API)

•roslaunch schunk_bringup dashboard_powerball.launch

Installation and Operation Instructions

IPA CANopen Installation –ROS package

•To install the IPA CANopen ROS package

- git clone git://gitub.com/ipa320/ipa_canopen.git

- rosmake ipa_canopen_ros

IPA CANopen Installation (without ROS)

•CMake (to manage the build process), in Ubuntu use the command

•Git (to download the sources from github) in Ubuntu use the command

•A C++ compiler with good support for the C++11 Standard

sudo apt-get install cmake

sudo apt-get install git

IPA CANopen Installation (without ROS)

•To install the C++ library independently from ROS

•To use the two command line tools, change the directory

cd ipa_canopen/ipa_canopen_core/bin

- git clone git://github.com/ipa320/ipa_canopen.git

- cd ipa_canopen/ipa_canopen_core

- mkdir build

- cd build

- cmake ..

- make

Technical details CANOpen

ipa_canopen_core

•ROS independent library

•Provides three command line tools (in ipa_canopen/ipa_canopen_core/bin)

•Homing (takes two arguments)

–Name of the devicefile

–CANdevice ID of the module

–E.g.

•Move device (takes five argumtents)

–Name of the devicefile

–CAN device ID of the module

–Synchronization time

–Target velocity in rad/msec

–Target acceleration in rad/msec²

–E.g.

•Get Errors(takes two arguments)

–Name of the devicefile

–CANdevice ID of the module

–E.g.

./homing /dev/pcan32 12

./move_device /dev/pcan32 12 10 0.05 0.01

http://www.ros.org/wiki/ipa_canopen_core

./get_error /dev/pcan32 12

ipa_canopen_ros

•Wrapper to control CANopen motor devices in ROS

•Two ways to launch the node

•Direct

•Via a launchfile, e.g.

•In order to use the node you need

•A trajectory controller

•A rudimentary robot model (urdf)

–For a list of services, subcribed and published topics and necessary

parameters on the parameter server follow the link below

rosrun ipa_canopen_ros ipa_canopen

roslaunch schunk_bringup powerball_solo.launch

http://www.ros.org/wiki/ipa_canopen_ros

Moving the Schunk LWA 4.P

(Powerball) arm with schunk_robots

Driving the Schunk LWA 4.P (Powerball) arm

•Make sure you have the following two repositories on your pc

•ipa320/schunk_robots.git

•ipa320/schunk_modular_robotics.git

–If not

–To launch the CANopen driver together with a trajectory controller

–To launch the Powerball-arm in Gazebo

–To move the arm with a graphical command GUI

–To configure the necessary yaml-files: check the next slides

roslaunch schunk_bringup powerball_solo.launch

roslaunch schunk_bringup_sim powerball.launch

roslaunch schunk_bringup dashboard_powerball.launch

- git clone git://github.com/ipa320/schunk_robots.git

- git clone git://github.com/ipa320/schunk_modular_robotics.git

Configuring the Schunk LWA 4.P (Powerball) arm

•Change directory

•Modify canopenmaster.yaml e.g.

roscd schunk_hardware_config/powerball/config

devices:

- name: /dev/pcan32

baudrate: 500K

sync_interval: 10

chains: [“arm_controller“]

Configuring the Schunk LWA 4.6 (Powerball) arm II

•Change directory

•Modify powerball.yaml e.g.

roscd schunk_hardware_config/powerball/config

# canopen parameters

can_module: PCAN

can_baudrate: 1000

max_accelerations: [0.8, 0.8, 0.8, 0.8, 0.8, 0.8]

OperationMode: position

joint_names: [“arm_1_joint”, “arm_2_joint”, “arm_3_joint”, “arm_4_joint”, “arm_5_joint”,

“arm_6_joint”]

module_ids: [3, 4, 5, 6, 7, 8]

devices: [“/dev/pcan32”, “/dev/pcan32”, “/dev/pcan32”, “/dev/pcan32”, “/dev/pcan32”,

“/dev/pcan32”]

# trajectory controll parameters

ptp_vel: 0.4 # rad/sec

ptp_acc: 0.1 # rad/sec²

max_error: 0.2 # rad

frequency: 100

Configuring the Schunk LWA 4.6 (Powerball) arm III

•Change directory

•Modify powerball_joint_configurations.yaml e.g.

joint_names:

["arm_1_joint","arm_2_joint","arm_3_joint","arm_4_joint","arm_5_joint","arm_6_joint"]

# back side positions

home: [[0,0,0,0,0,0]]

folded: [[0.32108866388214263, 0.6484189832579226, 2.06286710514828, -

1.2376313006847157, 5.658013215042093, -7.150174321779446e-05]]

wave_left: [[0.321033880484058, 0.49950722659008573, -0.4061025056033145, -

0.2370251233291425, 5.300248440143207e-06, 9.462633828505318e-06]]

wave_right: [[0.4741062629069983, -0.7912476227793528, 0.0041526706870680385, -

2.4662076334003302e-05, 2.4489075676648042e-05, 8.393716051102729e-06]]

# trajectories

wave_left-wave_right-home: [wave_left,wave_right,home]

roscd schunk_default_config/config

Moving the Schunk LWA 4.D

(Dextrous) arm schunk_robots

Driving the Schunk LWA 4.P (Powerball) arm

•Make sure you have the following two repositories on your pc

•ipa320/schunk_robots.git

•ipa320/schunk_modular_robotics.git

–If not

–To launch the CANopen driver together with a trajectory controller

–To launch the Powerball-arm in Gazebo

–To move the arm with a graphical command GUI

–To configure the necessary yaml-files: check the next slides

roslaunch schunk_bringup powerball_solo.launch

roslaunch schunk_bringup_sim powerball.launch

roslaunch schunk_bringup dashboard_powerball.launch

- git clone git://github.com/ipa320/schunk_robots.git

- git clone git://github.com/ipa320/schunk_modular_robotics.git

Configuring the Schunk LWA 4.P (Powerball) arm

•Change directory

•Modify canopenmaster.yaml e.g.

roscd schunk_hardware_config/powerball/config

devices:

- name: /dev/pcan32

baudrate: 500K

sync_interval: 10

chains: [“arm_controller“]

Configuring the Schunk LWA 4.6 (Powerball) arm II

•Change directory

•Modify powerball.yaml e.g.

roscd schunk_hardware_config/powerball/config

# canopen parameters

can_module: PCAN

can_baudrate: 1000

max_accelerations: [0.8, 0.8, 0.8, 0.8, 0.8, 0.8]

OperationMode: position

joint_names: [“arm_1_joint”, “arm_2_joint”, “arm_3_joint”, “arm_4_joint”, “arm_5_joint”,

“arm_6_joint”]

module_ids: [3, 4, 5, 6, 7, 8]

devices: [“/dev/pcan32”, “/dev/pcan32”, “/dev/pcan32”, “/dev/pcan32”, “/dev/pcan32”,

“/dev/pcan32”]

# trajectory controll parameters

ptp_vel: 0.4 # rad/sec

ptp_acc: 0.1 # rad/sec²

max_error: 0.2 # rad

frequency: 100

Configuring the Schunk LWA 4.6 (Powerball) arm III

•Change directory

•Modify powerball_joint_configurations.yaml e.g.

joint_names:

["arm_1_joint","arm_2_joint","arm_3_joint","arm_4_joint","arm_5_joint","arm_6_joint"]

# back side positions

home: [[0,0,0,0,0,0]]

folded: [[0.32108866388214263, 0.6484189832579226, 2.06286710514828, -

1.2376313006847157, 5.658013215042093, -7.150174321779446e-05]]

wave_left: [[0.321033880484058, 0.49950722659008573, -0.4061025056033145, -

0.2370251233291425, 5.300248440143207e-06, 9.462633828505318e-06]]

wave_right: [[0.4741062629069983, -0.7912476227793528, 0.0041526706870680385, -

2.4662076334003302e-05, 2.4489075676648042e-05, 8.393716051102729e-06]]

# trajectories

wave_left-wave_right-home: [wave_left,wave_right,home]

roscd schunk_default_config/config

Schunk Demo

rosrun schunk_demo save_position.py -p <position>

-home

-folded

-waveright

-waveleft

Moving through all the predefined positions:

rosrun schunk_demo demo_arm.py

Save new positions for the ROS parameter server:

Moving with the joystick

The joystick node is automatically loaded from the schunk_bringup.

Enable Movement

Select Joint

Move using the

directionals

ROS for Schunk components –command gui

•Tool to easily move arm or hand

•Buttons for initializing and recover

•Buttons to move components in joint space

•“roslaunch schunk_bringup dashboard_lwa.launch”

http://www.ros.org/wiki/cob_command_gui

ROS for Schunk components –rviz

•Tool to visualize robot model

•“roslaunch schunk_bringup rviz.launch”

http://www.ros.org/wiki/rviz

Contact:

Christopher Parlitz

Christopher.Parlitz@de.schunk.com

www.schunk-modular-robotics.com

www.ros.org/wiki/schunk_modular_robotics

Thank you for your attention

www.schunk.com www.schunk.com

Jens Lehmann, a German goalkeeper legend,

brand ambassador for SCHUNK since 2012

Folie 1 Manual Powerball CANOpen Driver

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