| ### Robotic Powder Grinding Demo |
| <img src="https://github.com/quantumbeam/Force-Controlled-Robotic-Mechanochemical-Synthesis/blob/main/wiki/grinding_demo.gif?raw=true" alt="UR powder grinding" width="500"> |
|
|
| 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](#supported-robots) |
| - [Quick Start Guide](#quick-start-guide) |
| - [Setting up Environments of Host PC, Robot, and Docker](#setting-up-environments-of-host-pc-robot-and-docker) |
| - [Running Docker Container](#running-docker-container) |
| - [Building ROS Packages in Docker Container](#building-ros-packages-in-docker-container) |
| - [Demonstration](#demonstration) |
| |
| |
| ## Supported Robots |
| - UR5e (Universal Robot) |
| |
| |
| ### Quick Start Guide |
| You can also view the Japanese version of the [README_jp](./README_jp.md). |
| |
| #### Setting up Environments of Host PC, Robot, and Docker |
| - [Setup Instructions](./env/docker/README.md) |
| - [Setup Instructions (Japanese version)](./env/docker/README_jp.md) |
| |
| #### 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. |
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|
|
| #### 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. |
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