Ronoco - rolling robot

Description

It is now possible to control rolling robots with ronoco. It will be necessary to launch ronoco with the command

roslaunch ronoco rolling.launch namespace:=string

With as argument :

• namespace: the namespace for your robot without last / (default " ")

Now, to launch ronoco in manipulator mode, the following command must be executed

roslaunch ronoco manipulator.launch commander:=string compliant_mode:=string end_effector:=string

With as argument :

• commander: the name of the move_group in MoveIt
• compliant_mode: manual if the robot can go into compliant mode manually, None if the robot cannot go into compliant mode, or the name of the service to put it in and out of compliant mode.
• end_effector: the name of the service to manipulate the effector, e.g. "wsg_50_driver/move". It is not necessary to fill in this field

Ronoco will always launch at the address http://localhost:8080/ it will then be necessary to establish the connection with your robot. For example in the case of a ur3 in simulation it will be necessary to launch

roslaunch ur3_moveit_config demo.launch config:=true

in parallel to ronoco manipulator. For more details please refer to the different examples.

Rolling robots

The following new features are available for the rolling robots:

• ✨ Teleoperation: allows to move the robot thanks to the directional arrows integrated in the ronoco interface
• ✨ Navigation: new block available in Node-RED allowing to navigate the robot to a defined point thanks to the simulated and real buttons in the ronoco interface
• ✨ Coverage: new block available in Node-RED allowing the robot to scan an area defined by n points (n greater than 2)

• ✨ Patrol: new block available in Node-RED allowing the robot to follow a path defined by n points (n greater than 1)

A complete example on a turtlebot 3 burger is available in the documentation

Details of the different blocks and their use are available in the documentation

Ronoco

Changes have also been made in ronoco

• ✨ Sleep: new block available in Node-RED allowing to pause tree execution for n seconds
• ✨ Logs: when running a tree the log messages on the left side are now more precise about which block is causing the problem and why
• 💄 Viewing recorded points: now when you record points from ronoco (with the simulated or real button) a blue marker with the point ID will be displayed in rviz. To enable this feature it is necessary to configure rviz by following this guide
• 🐛 Fixed a bug preventing the use of the inverter decorator
• 🏗️ Separation of common, rolling robot specific and manipulator arm specific blocks in Node-RED
• ✔️ Redesign of ronoco-vm tests

Ronoco - manipulator arm

First version of Ronoco (Ros no code) allowing the control via a graphical interface provided by Node-RED of any manipulator arm.

Tested on Poppy Ergo Jr, UR3, Kuka KR6

The full project documentation is available here