sda5f_tutorials

• ROS packages for YASKAWA MOTOMAN SDA5F tutorial.
  • sda5f_motion_plan: A package to execute example motions with dual arms.
  • sda5f_stack: A stack of ros packages to control the motoman sda5f.
• Docker for simulation and control environments for YASKAWA MOTOMAN SDA5F.

Dependencies

Docker build environment

• Ubuntu 22.04 PC
  • NVIDIA GeForce RTX3070
    • NVIDIA Driver 470.199.02
    • CUDA 11.4
  • Docker 23.0.1
  • Docker Compose 2.4.1
  • NVIDIA Docker 2.12.0

SDA5F with OnRobot grippers

• Ubuntu 20.04 PC
  • ROS Noetic
    • onrobot
    • Byobu
• YASKAWA Motoman SDA5F
• OnRobot RG6
• OnRobot VGC10

Installation

Teach pendant

1. Follow the instructions on ROS Wiki.

Host machine

1. Connect an Ethernet cable between the host computer and the Ethernet port of SDA5F's controller
2. Set the network configuration as below
   
   • The ros node expects to reach the robot at the IP 10.0.0.2. You can change the IP with pendant
     
   • This IP is set to the robot_ip argument as below

     roslaunch motoman_sda5f_support roslaunch bringup.launch robot_ip:=10.0.0.2 controller:=fs100 fake_execution:=false

3. Build the docker environment as below

   sudo apt install byobu && git clone git@github.com:Osaka-University-Harada-Laboratory/sda5f_tutorials.git --depth 1 && cd sda5f_tutorials && COMPOSE_DOCKER_CLI_BUILD=1 DOCKER_BUILDKIT=1 docker compose build --no-cache --parallel   

Usage with docker

Using utility scripts

1. Build and run the docker environment
   • Create and start docker containers in the initially opened terminal

     docker compose up

Simulation

2. Run a demonstration on the host machine

   • Visualizing the model

     ./utils/sda5f_rviz.sh

     

   • Executing the moveit

     ./utils/sda5f_moveit_sim.sh

     

   • Executing a waving-arms demonstration

     ./utils/sda5f_wavearms_fake.sh

     

   • Executing a pick-and-place demonstration

     ./utils/sda5f_pickplace_fake.sh

     

Real robot

2. Turn on the controller FS100
   

3. Switch the key's direction to Remote
   

4. Run a demonstration on the host machine

   • Executing the moveit

     ./utils/sda5f_moveit_real.sh

     

   • Executing a waving-arms demonstration

     ./utils/sda5f_wavearms.sh

     

   • Executing a pick-and-place demonstration

     ./utils/sda5f_pickplace.sh

     

Manually execute commands

1. Build and run the docker environment

   • Create and start docker containers in the initially opened terminal

     docker compose up

   • Execute the container in another terminal

     xhost + && docker exec -it sda5f_container bash

2. Run a demonstration in the container

   byobu

   • First command & F2 to create a new window & Second command ...
   • Ctrl + F6 to close the selected window

Author / Contributor

Takuya Kiyokawa
Tomohiro Motoda

We always welcome collaborators!

License

Please refer to each package.xml of the ROS packages