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Pick-and-Place Tutorial: Part 3

This part assumes that the previous two parts (Part 1, Part 2) have been completed.

Steps covered in this tutorial includes invoking a motion planning service in ROS, moving a Unity Articulation Body based on the calculated trajectory, and controlling a gripping tool to successfully grasp a cube.

Table of Contents

The Unity Side
The ROS Side
ROS–Unity Communication
Resources
Troubleshooting

Part 3: Pick-and-Place

The Unity Side

If you have not already completed the steps in Part 1 to set up the Unity project and Part 2 to integrate ROS with Unity, do so now.

If the PickAndPlaceProject Unity project is not already open, select and open it from the Unity Hub.

Note the Assets/Scripts/TrajectoryPlanner.cs script. This is where all of the logic to invoke a motion planning service lives, as well as the logic to control the gripper end effector tool.

The UI button OnClick callback will be reassigned later in this tutorial to the following function, PublishJoints, as defined:

public void PublishJoints()
{
    MoverServiceRequest request = new MoverServiceRequest();
    request.joints_input = CurrentJointConfig();
       
    // Pick Pose
    request.pick_pose = new RosMessageTypes.Geometry.Pose
    {
        position = (target.transform.position + pickPoseOffset).To<FLU>(),
        // The hardcoded x/z angles assure that the gripper is always positioned above the target cube before grasping.
        orientation = Quaternion.Euler(90, target.transform.eulerAngles.y, 0).To<FLU>()
    };

    // Place Pose
    request.place_pose = new RosMessageTypes.Geometry.Pose
    {
        position = (targetPlacement.transform.position + pickPoseOffset).To<FLU>(),
        orientation = pickOrientation.To<FLU>()
    };

    ros.SendServiceMessage<MoverServiceResponse>(rosServiceName, request, TrajectoryResponse);
}

void TrajectoryResponse(MoverServiceResponse response)
{
    if (response.trajectories != null)
    {
        Debug.Log("Trajectory returned.");
        StartCoroutine(ExecuteTrajectories(response));
    }
    else
    {
        Debug.LogError("No trajectory returned from MoverService.");
    }
}

This is similar to the SourceDestinationPublisher.Publish() function, but with a few key differences. There is an added pickPoseOffset to the pick and place_pose y component. This is because the calculated trajectory to grasp the target object will hover slightly above the object before grasping it in order to avoid potentially colliding with the object. Additionally, this function calls CurrentJointConfig() to assign the request.joints_input instead of assigning the values individually.

The response.trajectories are received in the TrajectoryResponse() callback, as defined in the ros.SendServiceMessage parameters. These trajectories are passed to ExecuteTrajectories() and executed as a coroutine:

private IEnumerator ExecuteTrajectories(MoverServiceResponse response)
{
    if (response.trajectories != null)
    {
        for (int poseIndex  = 0 ; poseIndex < response.trajectories.Length; poseIndex++)
        {
            for (int jointConfigIndex  = 0 ; jointConfigIndex < response.trajectories[poseIndex].joint_trajectory.points.Length; jointConfigIndex++)
            {
                var jointPositions = response.trajectories[poseIndex].joint_trajectory.points[jointConfigIndex].positions;
                float[] result = jointPositions.Select(r=> (float)r * Mathf.Rad2Deg).ToArray();
                   
                for (int joint = 0; joint < jointArticulationBodies.Length; joint++)
                {
                    var joint1XDrive  = jointArticulationBodies[joint].xDrive;
                    joint1XDrive.target = result[joint];
                    jointArticulationBodies[joint].xDrive = joint1XDrive;
                }
                yield return new WaitForSeconds(jointAssignmentWait);
            }

            if (poseIndex == (int)Poses.Grasp)
                CloseGripper();
               
            yield return new WaitForSeconds(poseAssignmentWait);
        }
        // Open Gripper at end of sequence
        OpenGripper();
    }
}

ExecuteTrajectories iterates through the joints to assign a new xDrive.target value based on the ROS service response, until the goal trajectories have been reached. Based on the pose assignment, this function may call the OpenGripper or CloseGripper methods as is appropriate.

Return to Unity. Select the Publisher GameObject and add the TrajectoryPlanner script as a component.
Note that the TrajectoryPlanner component shows its member variables in the Inspector window, which need to be assigned.

Once again, drag and drop the Target and TargetPlacement objects onto the Target and Target Placement Inspector fields, respectively. Assign the niryo_one robot to the Niryo One field.
Select the previously made Button object in Canvas/Button, and scroll to see the Button component. Under the OnClick() header, click the dropdown where it is currently assigned to the SourceDestinationPublisher.Publish(). Replace this call with TrajectoryPlanner > PublishJoints().
The Unity side is now ready to communicate with ROS to motion plan!

The ROS Side

Note: This project has been tested with Python 2 and ROS Melodic, as well as Python 3 and ROS Noetic.

Note the file src/niryo_moveit/scripts/mover.py. This script holds the ROS-side logic for the MoverService. When the service is called, the function plan_pick_and_place() runs. This calls plan_trajectory on the current joint configurations (sent from Unity) to a destination pose (dependent on the phase of the pick-and-place task).

def plan_trajectory(move_group, destination_pose, start_joint_angles): 
    current_joint_state = JointState()
    current_joint_state.name = joint_names
    current_joint_state.position = start_joint_angles

    moveit_robot_state = RobotState()
    moveit_robot_state.joint_state = current_joint_state
    move_group.set_start_state(moveit_robot_state)

    move_group.set_pose_target(destination_pose)
    plan = move_group.go(wait=True)

    if not plan:
        print("RAISE NO PLAN ERROR")

    return move_group.plan()

This creates a set of planned trajectories, iterating through a pre-grasp, grasp, pick up, and place set of poses. Finally, this set of trajectories is sent back to Unity.

ROS–Unity Communication

If you have not already completed the steps in Part 0 to set up your ROS workspace, do so now.
Open a new terminal window in the ROS workspace. Once again, source the workspace.

Then, run the following roslaunch in order to start roscore, set the ROS parameters, start the server endpoint, start the Mover Service node, and launch MoveIt.
```
roslaunch niryo_moveit part_3.launch
```
Note: This launch file also loads all relevant files and starts ROS nodes required for trajectory planning for the Niryo One robot (demo.launch). The launch files for this project are available in the package's launch directory, i.e. src/niryo_moveit/launch/. Descriptions of what these files are doing can be found here.

This launch will print various messages to the console, including the set parameters and the nodes launched. The final two messages should confirm You can start planning now! and Ready to plan.

Note: This may print out various error messages such as Failed to find 3D sensor plugin. These messages are safe to ignore as long as the final message to the console is You can start planning now!.
Return to the Unity Editor and press Play. Press the UI Button to send the joint configurations to ROS, and watch the robot arm pick up and place the cube!
- The target object and placement positions can be moved around during runtime for different trajectory calculations.

Resources

MoveIt!
Unity Articulation Body Manual

Troubleshooting

Errors and Warnings

If the motion planning script throws a RuntimeError: Unable to connect to move_group action server 'move_group' within allotted time (5s), ensure the roslaunch niryo_moveit part_3.launch process launched correctly and has printed You can start planning now!.
...failed because unknown error handler name 'rosmsg' This is due to a bug in an outdated package version. Try running sudo apt-get update && sudo apt-get upgrade to upgrade.

Hangs, Timeouts, and Freezes

If Unity fails to find a network connection, ensure that the ROS IP address is entered correctly as the ROS IP Address in the RosConnect in Unity, and that the src/niryo_moveit/config/params.yaml values are set correctly.

Miscellaneous Issues

If the robot appears loose/wiggly or is not moving with no console errors, ensure that the Stiffness and Damping values on the Controller script of the niryo_one object are set to 10000 and 100, respectively.
If the robot moves to the incorrect location, or executes the poses in an expected order, verify that the shoulder_link (i.e. niryo_one/world/base_link/shoulder_link) X Drive Force Limit is 5.
Before entering Play mode in the Unity Editor, ensure that all ROS processes are still running. The server_endpoint node may time out and will need to be re-run.

10 KiB 原始文件 文件历史