ROS-I with ABB Yumi (IRB-14000): Grippers

[karth...@gmail.com]

Hey guys,

I've managed to get ROS-I working with a YuMi (IRB14000). I'm using Ubuntu 14.04 with ROS Indigo. However, I'm having a problem with the grippers, mainly because the YuMi is a 2-arm robot, and despite having separate state server, motion server and motion mod files for the 2 arms, the state server of 1 arm is trying to read data of both grippers on calling the Hand_getActualPos() function. The error arises because only one of the grippers is actually working right now. I've used the following as references:
  http://wiki.ros.org/abb/Tutorials
  https://github.com/rtkg/yumi
Any idea what's wrong?

Karthik

[G.A. vd. Hoorn - 3ME]

I don't know about the grippers, but are you sure the rtkg package is
working correctly? I've recently tried it out and had to change quite
some bits to get it to correctly send out the joint states for both
groups, to cleanly close sockets, etc.

From the description of your problem it sounds like you are running
into this as well.

I can see if I can push my changes somewhere if you're interested.


Gijs

[Karthik Jayachandran]

Hey Gijs,

I used the rtkg package as the starting point. It did not work for me either, so I changed it as needed, and it works (with an actual Yumi as well as RobotStudio 6.03). The other 7 joints of both arms work perfectly fine, its the gripper issue that I've posted above thats causing me trouble.

Karthik

[RahTron3030]

Hi Gijs and Karthik,
  I'm a newbie when it comes to setting up ABB ROS drivers and I'm about to try setting up the rtkg package for YuMi. Is it possible for you to push your changes somewhere? I noticed there was a feature-roscontrol branch for the rtkg package. Does that branch fix some of the problems you mentioned?

-Rahul

[G.A. vd. Hoorn - 3ME]

On 4-7-2016 23:25, RahTron3030 wrote:
> Hi Gijs and Karthik,

Hi Rahul,

> I'm a newbie when it comes to setting up ABB ROS drivers and I'm about to
> try setting up the rtkg package for YuMi. Is it possible for you to push
> your changes somewhere? I noticed there was a feature-roscontrol branch for
> the rtkg package. Does that branch fix some of the problems you mentioned?

I think you'd better take this up with Robert himself.

As you write, the package has seen quite some development lately (fi the
ros control compatible parts), so it may well be that the changes I made
are no longer required.


Gijs

[jose_agust...@hotmail.com]

Hi Gijs, I'm working with ROS-I and YuMi as well, the rtkg package worked for me as a starting point also, now I am having it working properly with RobotStudio, however when testing in the real robot, every time the robot gets a new joint position from my ROS publisher node, I have to restart the code, it seems that for some reason the running of the code stops every time it gets a new joint vector.

[G.A. vd. Hoorn - 3ME]

On 07/07/2016 12:43 PM, jose_agust...@hotmail.com wrote:
> Hi Gijs, I'm working with ROS-I and YuMi as well, the rtkg package worked
> for me as a starting point also, now I am having it working properly with
> RobotStudio, however when testing in the real robot, every time the robot
> gets a new joint position from my ROS publisher node, I have to restart the
> code, it seems that for some reason the running of the code stops every
> time it gets a new joint vector.

Well, other than checking that you have the execution monitoring
disabled (so it doesn't cut in and cancel your trajectory), I can't
really think of a reason why that would happen.

I've not seen it, so I'm afraid I can't help.

Although: what do you mean /exactly/ with "a new position from my ROS
publisher node"?

Are you talking about a node using MoveIt to set a new (joint) pose
goal? Or are you sending JointTrajectory msgs to the driver node directly?

> El jueves, 16 de junio de 2016, 12:06:51 (UTC+2), gavanderhoorn escribió:
>>

[jose_agust...@hotmail.com]

I have a node (a publisher) that publish/sends JointTrajectory msgs directly to the driver, so I'm not sending the joint positions through MoveIt. Do you think that may be the issue?

JA

[Brett Hemes]

Do you have to restart the robot program or your publisher node?

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[jose_agust...@hotmail.com]

 Hemes, I have to restart the robot program (the RAPID code), either in the teach pendand (by clicking the "PLAY" button) or in the RobotStudio RAPID editor. Once I restart, the code continues execution and  the robot moves to the next joint positions in the queue.

JA

[Rahul Chipalkatty]

Does anyone have the urdf for YuMi or know where to find one? The rtkg package demo.launch file throws an error that it can't find yumi.urdf, which doesn't exist in the yumi_description node. 

Thanks,

Rahul

On Jul 19, 2016, at 9:31 AM, jose_agust...@hotmail.com wrote:

 Hemes, I have to restart the robot program (the RAPID code), either in the teach pendand (by clicking the "PLAY" button) or in the RobotStudio RAPID editor. Once I restart, the code continues execution and  the robot moves to the next joint positions in the queue.

JA

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[Maarten de Vries]

On 24 July 2016 at 04:13, Rahul Chipalkatty <ra...@southieautonomyworks.com> wrote:

Does anyone have the urdf for YuMi or know where to find one? The rtkg package demo.launch file throws an error that it can't find yumi.urdf, which doesn't exist in the yumi_description node. 

The URDF files (or actually xacro macros) are available in the yumi_description package [1].

[1] https://github.com/rtkg/yumi/tree/master/yumi_description/urdf

If they can not be found by roslaunch or xacro it sounds like your environment is not set up correctly.​ Did you source the setup.{zsh,bash,sh} of the relevant workspace?

Kind regards,

Maarten

[Rahul Chipalkatty]

Thanks Maarten. 

I ended up using xacro.py on yumi_pos.urdf.xacro to generate the URDF. For some reason, xacro.py and the MoveIt setup wizard kept throwing an error with yumi.urdf.xacro, saying it was an invalid URDF/COLLDA model.

-Rahul

[n.sanc...@gmail.com]

Hi Karthik and Gijs

could you please tell me how you got to work the rtkg package with the robot? I dont know how I am supposed to name the tasks. basically I used the abb tutorials and created separate state server, motion server and motion mod tasks for the 2 arms. (and assined the mod file to the correspondant task) but I keep getting an error in the T_ROB1. and the program pointer is not available. Could either of you give me a hint about how to use the package in robot studio, (the robot controller) or what should I change to the files?

thank you

Natalia

[engr.anees...@gmail.com]

I just connect Moveit.rviz in ROS with RobotStudio successfully but unfortunately when I try to move the arm of yumi it will not showing the any change in robotstudio environment :(

Please help me...waiting for reply

[Anees Ur Rehman]

Sure dear it would be my pleasures if you send me your working code for YUMI (IRB14000) because I used this package https://github.com/OrebroUniversity/yumi and then just change in "port value" myself and then the moveit package was connect with my robotstudio and just get the yumi coordinates in moveit. But after that when it try to move yumi in through moveit it didn't get any response on robotstudio :(

I'm using ubuntu 14.04 Lts for this moveit package and using robotstudio 6.05 on windows 10 Pro 64bit.

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Regards,

Anees Ur Rehman 
Mechatronics Engineer 
Cell:  +92 -334-6543211

P Think.. before you print..Think green!!

[G.A. vd. Hoorn - 3ME]

On 26-5-2017 3:18, Anees Ur Rehman wrote:
> Sure dear it would be my pleasures if you send me your working code for
> YUMI (IRB14000) because I used this package
> https://github.com/OrebroUniversity/yumi and then just change in "port
> value" myself and then the moveit package was connect with my robotstudio
> and just get the yumi coordinates in moveit. But after that when it try to
> move yumi in through moveit it didn't get any response on robotstudio :(
>
> I'm using ubuntu 14.04 Lts for this moveit package and using robotstudio
> 6.05 on windows 10 Pro 64bit.

As much as I'd like to help you both, for questions related to
OrebroUniversity/yumi I'd have to refer you to the OrebroUniversity/yumi
issue tracker, or ROS Answers.

You'll have a much better chance of getting a good solution there.


Gijs

PS: additionally, it's not very nice to hijack this thread. Could I
please ask you to start a new one next time? Thank you.

>> swri-ros-pkg-d...@googlegroups.com.

[engr.anees...@gmail.com]

Hi Jose

please can you send me your working yumi package ??? I'm still facing the problem with ROS and Robotstudio connection..

On Thursday, 7 July 2016 19:53:48 UTC+8, jose_agust...@hotmail.com wrote:

[ahmadwa...@gmail.com]

was able to install the ABB ros server on my Yumi robot, the server is working good for controlling the two arms using Orebro/yumi package. However I'm still having problems in connecting the grippers to the ROS server. I installed all the required files and modules for grippers control and I run the RAPID check program and I got no errors. The main problem is that the Grippers Motion Server and the Grippers State server are still not connected to the ROS server. Any help with this issue??