data/robot_code/README.md

Robotic Powder Grinding Demo

Demo ROS packages for robotic mechanochemistry. This package can operate both in simulation (fake_joint) and on the actual robot.

Table of Contents

• Supported Robots
  • Quick Start Guide
    • Setting up Environments of Host PC, Robot, and Docker
    • Running Docker Container
    • Building ROS Packages in Docker Container
    • Demonstration

Supported Robots

• UR5e (Universal Robot)

Quick Start Guide

You can also view the Japanese version of the README_jp.

Setting up Environments of Host PC, Robot, and Docker

• Setup Instructions
• Setup Instructions (Japanese version)

Running Docker Container

• Runing docker container on terminal: cd ./env && ./RUN-DOCKER-CONTAINER.sh
• Launch Terminator and running docker container: cd ./env && ./LAUNCH-TERMINATOR-TERMINAL.sh

Building ROS Packages in Docker Container

• Execute only once on first ./INITIAL_SETUP_ROS_ENVIROMENTS.sh in catkin_ws in docker conatner.
• Execute to build ./BUILD_ROS_WORKSPACE.sh in catkin_ws in docker conatner.

Demonstration

• We have prepared demo files for launching and performing grinding motions.
• Robot Launch:

  roslaunch grinding_robot_bringup ur5e_bringup.launch
  

  • If you want to use simulation, please launch with sim:=true.
• Launching Grinding Motion:

  roslaunch grinding_motion_routines ur5e_grinding_demo.launch
  

  • Use the command g to prepare for grinding (g=grinding), and then use y to execute the grinding.
  • Use the command G to prepare for powder collection with a spatula (G=gathering), and then use y to execute the powder collection.
• Grinding Parameters Configuration:
  • The configuration settings are located in the config directory within the grinding_motion_routines package.