GNC orbital

Simulator for guidance, navigation and control of proximity orbital operations.

Table of Contents

• Instalation
• Launch the simulation environment
• Interfaces
• Configuration
• Usage
• Demos
• About

Instalation

You need to have previously installed ROS2. Please follow this guide if you don't have it.

source /opt/ros/humble/setup.bash

Create workspace and clone the repository

mkdir ~/ros2_ws/src
cd ~/ros2_ws/src
git clone https://github.com/IntelligentRoboticsLabs/GNC_orbital.git

Install dependencies and build workspace

cd ~/ros2_ws
sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install 

Setup the workspace

source ~/ros2_ws/install/setup.bash

Launch the simulation environment

To launch the simulation environment once everything is compiled, we must use the following command:

source /opt/ros/humble/setup.bash
source ~/ros2_ws/install/setup.bash
ros2 launch gnc_orbital ur_sim_control.launch.py

Once launched, the rviz viewer with both arms, camera and rail, and the gazebo simulation environment should open.

If what you want is for the rviz or gazebo viewer not to open, use one of these two commands or a combination of both:

ros2 launch gnc_orbital ur_sim_control.launch.py launch_rviz:=false
ros2 launch gnc_orbital ur_sim_control.launch.py gazebo_gui:=false

Interfaces

Topics

Once the simulation is launched, you can use the ros2 topic list command to obtain the following result:

/clicked_point
/clock
/dynamic_joint_states
/goal_pose
/initialpose
/joint_state_broadcaster/transition_event
/joint_states
/parameter_events
/performance_metrics
/robot_description
/rosout
/tf
/tf_static
/ur10_camera/camera_info
/ur10_camera/depth/camera_info
/ur10_camera/depth/image_raw
/ur10_camera/depth/image_raw/compressed
/ur10_camera/depth/image_raw/compressedDepth
/ur10_camera/depth/image_raw/theora
/ur10_camera/image_raw
/ur10_camera/image_raw/compressed
/ur10_camera/image_raw/compressedDepth
/ur10_camera/image_raw/theora
/ur10_camera/points
/ur10_joint_state_broadcaster/transition_event
/ur10_joint_trajectory_controller/controller_state
/ur10_joint_trajectory_controller/joint_trajectory
/ur10_joint_trajectory_controller/state
/ur10_joint_trajectory_controller/transition_event
/ur3_joint_state_broadcaster/transition_event
/ur3_joint_trajectory_controller/controller_state
/ur3_joint_trajectory_controller/joint_trajectory
/ur3_joint_trajectory_controller/state
/ur3_joint_trajectory_controller/transition_event

You have the topics for each of the robots, where you can see the status of each of the joints of each arm, or the image from the camera that the ur10 has. Additionally, you will be able to see all the transforms in /tf or /tf_static

Actions

Once the simulation is launched, you can use the ros2 action list command to obtain the following result:

/ur10_joint_trajectory_controller/follow_joint_trajectory
/ur3_joint_trajectory_controller/follow_joint_trajectory

These are the actions that moveit2 will use to be able to move the arms

Configuration

Spotlights

In the file params/world_params.yaml you will find the world configurations, including the spotlights.

world_params.yaml

# Spotlight 1
## Pose
spot1_x_light: 0.0
spot1_y_light: 0.0
spot1_z_light: 1.2
spot1_roll_light: 0.0
spot1_pitch_light: 1.56
spot1_yaw_light: 0.78

## Diffuse
spot1_R_light: 1
spot1_G_light: 1
spot1_B_light: 1
spot1_opacity_light: 1.0

## Specular
spot1_specular_R: 1
spot1_specular_G: 1
spot1_specular_B: 1
spot1_specular_opacity: 1.0

## Attenuation
spot1_attenuation_range: 30
spot1_attenuation_linear: 1
spot1_quadratic: 0.001

## Spot
spot1_inner_angle: 0.1
spot1_outer_angle: 0.2
spot1_fall_off: 0.5


# Spotlight 2
## Pose
spot2_x_light: -2.0
spot2_y_light: 0.0
spot2_z_light: 1.2
spot2_roll_light: 0.0
spot2_pitch_light: 1.56
spot2_yaw_light: 2.53

## Diffuse
spot2_R_light: 1
spot2_G_light: 1
spot2_B_light: 1
spot2_opacity_light: 1.0

## Specular
spot2_specular_R: 1
spot2_specular_G: 1
spot2_specular_B: 1
spot2_specular_opacity: 1.0

## Attenuation
spot2_attenuation_range: 30
spot2_attenuation_linear: 1
spot2_quadratic: 0.001

## Spot
spot2_inner_angle: 0.1
spot2_outer_angle: 0.2
spot2_fall_off: 0.5

Parameters to take into account:

• To change the color of the spotlights, you have to modify the diffuse and specular RGB values, which range from 0 to 1.
• To modify the light range, you have to modify the spotlight's attenuation_range value.
• To modify the angle by which the light extends, you must touch the outer_angle value. This value cannot be less than the inner, so if a smaller angle is necessary, both will have to be modified.
• You can also modify the position of the spotlights and the angle at which the light goes, by touching the xyz rpy parameters.
• The parameters attenuation_linear, quadratic and fall_of are used to configure how the light decreases linearly with distance.

Arms

The configuration of the arms is located in params/arms_params.yaml, and this allows you to modify its position and initial orientation, as well as the name given to it, type of arm and the prefix that will be given to the tf of the arm to differentiate them from another.

arms_params.yaml

gnc_orbital:
  arm1:
    name: ur3
    type: ur3
    tf_prefix: ur3_
    position: [-2.4, -1.6, 0.73]
    orientation: [0, 0, 0]
  arm2:
    name: ur10
    type: ur10
    tf_prefix: ur10_
    position: [0, -2.89, 1]
    orientation: [-1.56, 0, 0]

It must be taken into account that if the table arm is going to be moved, the position of this table must also be modified. You can also do this from the params/world_params.yaml file

world_params.yaml

# UR 5 Table
## Pose
x_table: -2.6
y_table: -1.1
z_table: 0.35
roll_table: 0.0
pitch_table: 0.0
yaw_table: 1.56

## Size
length_table: 1.2
width_table: 0.6
height_table: 0.73

Usage

In order to move the ur3 robot, you will have to use the following command from terminal:

ros2 topic pub /ur3_joint_trajectory_controller/joint_trajectory trajectory_msgs/msg/JointTrajectory "header: 
  stamp:
    sec: 0
    nanosec: 0
  frame_id: ''
joint_names: ['ur3_shoulder_pan_joint', 'ur3_shoulder_lift_joint', 'ur3_elbow_joint', 'ur3_wrist_1_joint', 'ur3_wrist_2_joint', 'ur3_wrist_3_joint']
points: [{positions: [0.0, -1.57, 1.57, 0.0, 0.0, 0.0],
      time_from_start: {sec: 2, nanosec: 0}}]"

In order to move the ur10 robot, you will have to use the following command from terminal:

ros2 topic pub /ur10_joint_trajectory_controller/joint_trajectory trajectory_msgs/msg/JointTrajectory "header: 
  stamp:
    sec: 0
    nanosec: 0
  frame_id: ''
joint_names: ['ur10_shoulder_pan_joint', 'ur10_shoulder_lift_joint', 'ur10_elbow_joint', 'ur10_wrist_1_joint', 'ur10_wrist_2_joint', 'ur10_wrist_3_joint', 'ur10_rail_joint']
points: [{positions: [0.0, -1.57, -1.57, 0.7, 1.5, -1.2, -1.1],
      time_from_start: {sec: 2, nanosec: 0}}]"

If what you want is to see the image or the pointcloud generated by the camera, or the transform system, you should go to Rviz and follow the following steps:

• Transforms: Add > By display type > TF
• RGB image: Add > By topic > /ur5_camera > /image_raw > Image
• Depth image: Add > By topic > /ur5_camera > /depth > /image_raw > Image
• PointCloud: Add > By topic > /ur5_camera > /points > PointCloud2

Demos

In this demo the commands given above are being executed, only modifying the positions of the joints:

demo_1.webm

demo2.webm

About

This is a project made by the Intelligent Robotics Lab, a research group from the Universidad Rey Juan Carlos. Copyright © 2024.

Maintainers:

• Juan Carlos Manzanares Serrano
• Juan S. Cely

Acknowledgment

Grant TED2021-132099B-C32 funded by MCIN/AEI/10.13039/501100011033
and by "European Union NextGenerationEU/PRTR".