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ROS Project: Control Layer Between Unity and Doosan Robotic Arm

Project Overview

This project aims to create a control layer between a Unity VR project and the ROS drivers of a Doosan robotic arm. It enables seamless communication between Unity and ROS, allowing real-time control and manipulation of the robotic arm using VR inputs.

Features

  • Control layer transforming messages for communication between Unity and ROS.
  • Support for Doosan robotic arm with ROS drivers.
  • Integration with Realsense cameras and Robotiq gripper.
  • Real-time control using Unity VR and ROS.

Installation Instructions

This project cannot function independently, as some launch files require other projects.

Prerequisites

  • Operating System: This project was developed using ROS Noetic on Ubuntu 20.04.
  • Doosan robot: The scripts in this project work with the ROS Doosan drivers available here, a modified version of the original branch. For detailed setup instructions, refer to this issue.
  • Realsense Camera: The cameras used in this project are Realsense cameras. Their drivers can be found here.
  • Robotiq Gripper: The gripper used is a Robotiq 2f 85. An updated fork compatible with ROS Noetic is available here.
  • Unity-ROS Bridge: This can be found at the Unity Robotics Hub and is used to connect Unity to ROS. For tutorials and guidance on setting up ROS in Unity, including the ROS-TCP-Endpoint, follow their ROS_setup tutorial. ROS Noetic was used for this project. Note: you will need to change the first line of code of the file ROS-TCP-Endpoint/src/ros_tcp_endpoint/default_server_endpoint.py to
#!/usr/bin/env python3

This ensures that the Endpoint works with Python 3.

By adding these to your src folder, you should have, including this project, a folder for the following projects:

  • Doosan robot
  • Realsense
  • Robotiq 85
  • ROS TCP Endpoint
  • VR Unity ROS Doosan (this project)

Make sure to run catkin_make after all these installations.

From a clean install

Specific information if you're trying this project from a clean install.

  • Install ROS Noetic (desktop) by following the tutorial.
  • I also suggest installing MoveIt! in a separate workspace folder. Complete the Getting Started and the Realtime Arm Servoing sections. You'll install dependencies that other prerequisite packages might also require.
  • Import the other prerequisite packages cited in that section.
  • You might also need to install additional ROS packages, which you can do with sudo apt-get install ros-noetic-<package>. Install the following packages:
    • serial
    • ddynamic-reconfigure
    • realsense2
    • rqt-controller-manager
    • moveit-servo
  • If you're unable to access /dev/ttyUSB0 for the Robotiq gripper and encounter the error Unable to open commport /dev/ttyUSB0, install the following package: pip install pymdbus==2.2.0.

Usage

These are the commands you might want to run.

Rosrun

  • go_home.py: Makes the robot go to a home position using the velocity controller of the robot. This script should not be run at the same time as other messages are published to move the robot on the /dsr_joint_velocity_controller/command ROS topic.

Roslaunch

  • keyboard_gripper.launch: Launches the Robotiq 2f 85 drivers and makes the gripper open or close when pressing the keyboard spacebar. Holding the spacebar will make the gripper fluctuate between the two states.
  • moveit_servo_doosan.launch: Launches the moveit_servo real-time arm servoing drivers with the Doosan config file. This enables manipulation of the robot by using a Cartesian target for where the end-effector of the robot needs to go.
  • vr_realtime.launch: Starts the drivers of the Realsense camera and the Robotiq gripper. It also uses the scripts that act as a control layer between Unity and ROS. Do not use it at the same time as the keyboard_gripper.launch.

Example

Launch the various ROS components needed for real-time manipulation using the following commands in multiple command windows:

roslaunch dsr_ros_control doosan_interface_moveit.launch # Launch the ROS driver for real-time control. Make sure to change the Host IP to the one of your robot.
roslaunch unity_ros_doosan moveit_servo_doosan_cpp.launch 
roslaunch unity_ros_doosan vr_realtime.launch # Launches camera, gripper, and conversion scripts. Permissions for the gripper may need adjustment (`sudo chmod 777 /dev/ttyUSB0`).
roslaunch ros_tcp_endpoint endpoint.launch # Launch the Unity-ROS bridge
rosrun rqt_controller_manager rqt_controller_manager # Switch Doosan controller to velocity control.

Known Issues and Possible Fix

When running the command roslaunch unity_ros_doosan moveit_servo_doosan.launch, it won't work if no robot is started. However, there are still errors when a robot is active. Some of these errors are not important and won't hinder how it works. If there are errors that specify missing ROS parameters, it could be because of the launch/moveit_servo_doosan.launch file. On line 13, you can remove the ns="optional_parameter_namespace" and it should resolve the problem.