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Add lecture 08
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Diff for: ‎README.md

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@@ -15,7 +15,7 @@ This PhD-level course introduces digital fabrication methods and tools building
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| 05 | 30.03. | **Path planning**<br>Cartesian and kinematic path planning using MoveIt.<br>Planning scene operations. End effectors and discrete build elements.<br>👉[Go to lecture](lecture_05/README.md) | GKR (RR, GC) |
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| 06 | 06.04. | **Assembly of discrete elements I**<br>Brief introduction to directed acyclic graphs. Modelling assembly processes as DAGs. Reachability Maps.<br>👉[Go to lecture](lecture_06/README.md) | GKR (RR, GC) |
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| 07 | 13.04. | **Assembly of discrete elements II**<br>Applied exercise from design to planning fabrication for an assembly of discrete elements and preparation for control exercise.<br>👉[Go to lecture](lecture_07/README.md) | GKR (RR, GC) |
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| 08 | 27.04. | **Robot control with COMPAS RRC**<br>Online non-real time control of industrial robots. Components of an RRC deployment. Communication primitives (blocking, futures, cyclic). Instructions. Multi controller & location coordination.<br> | GKR (RR, GC) |
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| 08 | 27.04. | **Robot control with COMPAS RRC**<br>Online non-real time control of industrial robots. Components of an RRC deployment. Communication primitives (blocking, futures, cyclic). Instructions. Multi controller & location coordination.<br>👉[Go to lecture](lecture_08/README.md) | GKR (RR, GC) |
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| 09 | 04.05. | **Assembly of discrete elements III**<br>Continued applied exercise from planning data to robot control for an assembly of discrete elements.<br> | GKR (RR, GC) |
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| 10 | 11.05. | **COMPAS SLICER: Basics**<br>Introduction to COMPAS SLICER (presentation).<br>Planar slicing of simple geometry<br>Introducion to scalar field slicing.<br> | DBT & GKR (IM, JB) |
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| 11 | 18.05. | **COMPAS SLICER: Advanced**<br>Introduction to non-planar slicing.<br>Non-planar slicing of a geometry.<br>Simulation and planning of robotic motion with COMPAS RRC.<br> | DBT & GKR (IM, JB) |

Diff for: ‎docker/moveit-rrc-noetic/docker-compose.yml

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version: '2'
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services:
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rrc-driver:
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image: gramaziokohler/ros-noetic-dfab
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container_name: rrc-driver
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environment:
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- ROS_HOSTNAME=rrc-driver
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- ROS_MASTER_URI=http://ros-core:11311
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depends_on:
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- ros-core
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command:
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- roslaunch
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- --wait
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- compas_rrc_driver
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- bringup.launch
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- robot_ip:=host.docker.internal
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- robot_streaming_port:=30101
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- robot_state_port:=30201
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- namespace:=rob1
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moveit-service:
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image: gramaziokohler/ros-noetic-dfab
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container_name: moveit-service
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environment:
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- ROS_HOSTNAME=moveit-service
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- ROS_MASTER_URI=http://ros-core:11311
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# GUI: To forward the GUI to an external X11 server (eg. XMing), uncomment the following line
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# - DISPLAY=host.docker.internal:0.0
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depends_on:
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- ros-core
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command:
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- roslaunch
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- --wait
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# To change the robot, select the corresponding package name here, eg. `ur10e_moveit_config`
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- abb_irb4600_40_255_moveit_config
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- demo.launch
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# To launch the RVIZ GUI, change the following to true
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- use_rviz:=false
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- pipeline:=ompl
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ros-core:
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image: gramaziokohler/ros-noetic-dfab
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container_name: ros-core
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ports:
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- "11311:11311"
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command:
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- roscore
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ros-bridge:
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image: gramaziokohler/ros-noetic-dfab
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container_name: ros-bridge
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environment:
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- "ROS_HOSTNAME=ros-bridge"
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- "ROS_MASTER_URI=http://ros-core:11311"
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ports:
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- "9090:9090"
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depends_on:
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- ros-core
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command:
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- roslaunch
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- --wait
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- rosbridge_server
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- rosbridge_websocket.launch
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ros-fileserver:
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image: gramaziokohler/ros-noetic-dfab
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container_name: ros-fileserver
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environment:
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- ROS_HOSTNAME=ros-fileserver
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- ROS_MASTER_URI=http://ros-core:11311
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depends_on:
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- ros-core
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command:
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- roslaunch
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- --wait
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- file_server
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- file_server.launch

Diff for: ‎lecture_08/701_hello_world.py

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import compas_rrc as rrc
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if __name__ == "__main__":
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# Create Ros Client
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ros = rrc.RosClient()
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ros.run()
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# Create ABB Client
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abb = rrc.AbbClient(ros, "/rob1")
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print("Connected.")
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# Print text on FlexPenant
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done = abb.send_and_wait(rrc.PrintText("Welcome to COMPAS_RRC"))
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# Print feedback
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print("Feedback = ", done)
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# End of Code
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print("Finished")
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# Close client
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ros.close()

Diff for: ‎lecture_08/702_send.py

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import compas_rrc as rrc
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if __name__ == "__main__":
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# Create Ros Client
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ros = rrc.RosClient()
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ros.run()
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# Create ABB Client
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abb = rrc.AbbClient(ros, "/rob1")
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print("Connected.")
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# Send an instruction without waiting for any kind of feedback
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abb.send(rrc.PrintText("Hello."))
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# End of Code
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print("Finished")
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# Close client
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ros.close()

Diff for: ‎lecture_08/703_send_and_wait.py

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import compas_rrc as rrc
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if __name__ == "__main__":
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# Create Ros Client
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ros = rrc.RosClient()
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ros.run()
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# Create ABB Client
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abb = rrc.AbbClient(ros, "/rob1")
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print("Connected.")
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# Send and wait
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done = abb.send_and_wait(
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rrc.PrintText("Send instructions to the robot and wait for feedack.")
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)
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# Print feedback
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print("Feedback = ", done)
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# End of Code
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print("Finished")
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# Close client
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ros.close()

Diff for: ‎lecture_08/704_send_and_wait_in_the_future.py

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import compas_rrc as rrc
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if __name__ == "__main__":
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# Create Ros Client
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ros = rrc.RosClient()
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ros.run()
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# Create ABB Client
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abb = rrc.AbbClient(ros, "/rob1")
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print("Connected.")
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# Send and defer waiting
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future = abb.send(
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rrc.PrintText(
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"Send instructions to the robot and check the feedack later.",
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feedback_level=rrc.FeedbackLevel.DONE,
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)
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)
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# Here you can execute other operations
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print("Execute other code.")
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# Wait for feedback
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done = future.result(timeout=3.0)
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# Print feedback
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print("Feedback = ", done)
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# End of Code
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print("Finished")
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# Close client
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ros.close()

Diff for: ‎lecture_08/705_set_tool.py

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import compas_rrc as rrc
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if __name__ == "__main__":
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# Create Ros Client
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ros = rrc.RosClient()
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ros.run()
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# Create ABB Client
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abb = rrc.AbbClient(ros, "/rob1")
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print("Connected.")
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# Set tool
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done = abb.send_and_wait(rrc.SetTool("tool0"))
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# Print feedback
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print("Feedback = ", done)
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# End of Code
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print("Finished")
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# Close client
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ros.close()

Diff for: ‎lecture_08/706_set_work_object.py

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import compas_rrc as rrc
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if __name__ == "__main__":
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# Create Ros Client
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ros = rrc.RosClient()
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ros.run()
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# Create ABB Client
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abb = rrc.AbbClient(ros, "/rob1")
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print("Connected.")
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# Set work object
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done = abb.send_and_wait(rrc.SetWorkObject("wobj0"))
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# Print feedback
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print("Feedback = ", done)
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# End of Code
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print("Finished")
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# Close client
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ros.close()

Diff for: ‎lecture_08/707_set_acceleration.py

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import compas_rrc as rrc
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if __name__ == "__main__":
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# Create Ros Client
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ros = rrc.RosClient()
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ros.run()
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# Create ABB Client
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abb = rrc.AbbClient(ros, "/rob1")
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print("Connected.")
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# Set acceleration
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acc = 100 # Unit [%]
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ramp = 100 # Unit [%]
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done = abb.send_and_wait(rrc.SetAcceleration(acc, ramp))
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# Print feedback
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print("Feedback = ", done)
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# End of Code
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print("Finished")
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# Close client
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ros.close()

Diff for: ‎lecture_08/708_set_max_speed.py

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import compas_rrc as rrc
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if __name__ == "__main__":
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# Create Ros Client
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ros = rrc.RosClient()
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ros.run()
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# Create ABB Client
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abb = rrc.AbbClient(ros, "/rob1")
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print("Connected.")
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# Set max speed
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override = 100 # Unit [%]
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max_tcp = 2500 # Unit [mm/s]
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done = abb.send_and_wait(rrc.SetMaxSpeed(override, max_tcp))
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# Print feedback
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print("Feedback = ", done)
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# End of Code
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print("Finished")
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# Close client
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ros.close()

Diff for: ‎lecture_08/709_get_and_move_to_frames.py

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import compas_rrc as rrc
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if __name__ == "__main__":
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# Create Ros Client
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ros = rrc.RosClient()
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ros.run()
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# Create ABB Client
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abb = rrc.AbbClient(ros, "/rob1")
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print("Connected.")
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# Set tool
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abb.send(rrc.SetTool("tool0"))
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# Set work object
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abb.send(rrc.SetWorkObject("wobj0"))
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# Read current frame position
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frame = abb.send_and_wait(rrc.GetFrame())
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# Print received values
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print(repr(frame))
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# Change a X axis (in millimiters)
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frame.point[0] -= 50
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# Set speed [mm/s]
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speed = 100
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# Move robot the new pos
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done = abb.send_and_wait(
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rrc.MoveToFrame(frame, speed, rrc.Zone.FINE, rrc.Motion.LINEAR)
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)
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# Print feedback
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print("Feedback = ", done)
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# End of Code
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print("Finished")
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# Close client
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ros.close()

Diff for: ‎lecture_08/710_get_and_move_to_joints.py

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import compas_rrc as rrc
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if __name__ == "__main__":
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# Create Ros Client
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ros = rrc.RosClient()
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ros.run()
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# Create ABB Client
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abb = rrc.AbbClient(ros, "/rob1")
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print("Connected.")
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# Read value of joints
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robot_joints, external_axes = abb.send_and_wait(rrc.GetJoints())
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# Print received values
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print(robot_joints, external_axes)
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# Change a joint value [°]
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robot_joints.rax_1 += 15
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# Set speed [mm/s]
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speed = 100
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# Move robot the new pos
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done = abb.send_and_wait(
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rrc.MoveToJoints(robot_joints, external_axes, speed, rrc.Zone.FINE)
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)
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# Print feedback
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print("Feedback = ", done)
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# End of Code
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print("Finished")
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# Close client
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ros.close()

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