msvc2024_setup

Team: RoboPig

General Information of Setup

Hardware Requirements

Robot Setup:

• UR10e (Polyscope 5.11)
• Robotiq HandE without Rubber Tips
• IDS U3-CP3800 Rev2.2 Camera (for detection of taskboard and certain components in BYOD)
• Intel Realsense D435i Camera with 3D Printed mount facing -y of TCP (for Slider Task)

Additional Requirements for Taskboard Operation

• 3D Printed Hook

Additional Requirements for BYOD Operation

• 3D Printed Mounts (tiles, tile fixtures, smartphone rack, hot-air blower holder with vents, suction pad holders, workstation, sorting boxes, 5 foam pads) !!Note:!! Environment friendly biodegradable PLA (3DJake ecoPLA) filament is used for 3D printing the mounts
• 2 Suction Pads: for moving and fixing a smartphone
• Prying Tool: to remove backcover if necessary
• Hot-air Blower: to heat up the back side of a smarthpone to melt the resin and ease the removal of backcover !!Note:!! An e-waste fully-functioning hair dryer is been reused here as an hot-air blower
• (Multimeter: as a future scope for taking certain measurements on the back-panel of a smartphone if the backcover is removed successfully)

Optional:

• Googly Eyes

UR10e Settings

• TCP
  • X: 0mm
  • Y: 0mm
  • Z: 148mm
• Payload
  • With Realsense Camera and mount
    • Mass: 1.35kg
    • Center of Gravity:
      • CX: 3mm
      • CY: 2mm
      • CZ: 50mm
  • Without Realsense Camera and mount
    • Mass: 1.06kg
    • Center of Gravity:
      • CX: 0mm
      • CY: 0mm
      • CZ: 59mm

Software Dependencies

ROS Noetic

ur_rtde

https://sdurobotics.gitlab.io/ur_rtde/installation/installation.html#linux-ubuntu-and-macos

git clone https://gitlab.com/sdurobotics/ur_rtde.git
cd ur_rtde
git checkout v1.5.5
git submodule update --init --recursive
mkdir build
cd build
cmake -DCMAKE_INSTALL_PREFIX=/usr ..
make -j
sudo make install

realsense-ros

git clone https://github.com/IntelRealSense/realsense-ros.git

IDS-peak

https://en.ids-imaging.com/downloads.html

OpenCV

sudo apt install libopencv-dev python3-opencv

JSON support

sudo apt install nlohmann-json3-dev

CGAL

sudo apt install libcgal-dev

Eigen

eigen.tuxfamily.org

Starting the System

Run Launcher: roslaunch msvc2024_setup taskboard_core.launch - Note: Make sure that the robot IP in the launchfile is correct

To run the task scheduler: rosrun msvc2024_setup msvc2024_setup_taskboard

• !!WARNING!! robot will move immediately to home position

To run the point recording script: rosrun msvc2024_setup msvc2024_setup_point_recording

To call the taskboard camera detection service: - Run rqt - Select sift_board_detection service and call it

To run touch detect service: rosrun msvc2024_setup msvc2024_setup_taskboard - !!Attention!! robot is immediately aligning to z - Touch so that +y of tcp looks away from taskboard. - Touch longside without cable holder - Touch shortside next to probe - Touch top of the board - Move robot away - Confirm position in rviz

Starting the UI Dashboard:

• Follow the guide here

Robot Trajectory Logging

1. Uncomment 2x call_log() in task_board_scheduler.cpp
2. Change path in tasks.cpp After each run change filename in first call_log() in task_board_scheduler.cpp