This is a collection of ROS2 Packages for APRS LAB Demo

Steps to Run the Demo

Starting the Robot

1. Turn controller on
2. Switch key on controller to auto
3. Switch teach pendant to OFF
4. On teach pendant, press select --> find ROS_GRIP --> press enter
5. Clear any faults by pressing both shift and reset --> faults in the top left should turn green
6. Press green button on the controller

Running the ROS nodes

1. Start bringup launch file (Starts ros controllers, RVIZ -> state should match)

   ros2 launch fanuc_description fanuc_bringup.launch.py 
   

2. Start robot commander --> (Starts moveit, planning scene, and robot_commander_node -> move_group_interface)

   ros2 launch robot_commander fanuc_robot_commander.launch.py
   

3. Launch vision node --> (Starts fanuc_vision_node, teach_table_vision_node)

   ros2 launch aprs_vision aprs_vision.launch.py
   

4. Move robot to home

   ros2 service call /move_to_named_pose aprs_interfaces/src/MoveToNamedPose "{name: home}" 
   

5. Call vision system to locate trays

   ros2 service call /fanuc_vision/locate_trays example_interfaces/srv/Trigger {}
   ros2 service call /teach_table_vision/locate_trays example_interfaces/srv/Trigger {}
   

6. Launch PDDL

   ros2 launch aprs_pddl aprs_pddl.launch.py (pick action, place action, plansys bringup)
   

7. Launch task_planner_node

   ros2 run aprs_pddl task_planner_node
   

8. Generate Initial State through PDDL

   ros2 service call /generate_pddl_init_state aprs_interfaces/srv/GenerateInitState
   

9. Open Plansys Terminal -->

   ros2 run plansys2_terminal plansys2_terminal
   --> get plan
   --> run