Robotous_FT_RFT60

Catkin code to interface RFT60-HA01 sensor via catkin workspace to a ROS node.

Method 1 ( Via rqt_service_caller GUI )

Before you start your journey of making and building different stacks, it's essential to familiarize yourself with the following tools:

1. Rosdep: Rosdep on ROS Wiki
2. Synaptic
3. If ROS has been set up from source, remember to source the setup script:

   source ~/ros_catkin_ws/install_isolated/setup.bash

4. Add the sourcing script to your .bashrc to make it permanent:

   echo 'source ~/ros_catkin_ws/install_isolated/setup.bash' >> ~/.bashrc

5. Source the .bashrc file to apply the changes:

   source ~/.bashrc

6. Read the helpdoc for ROS package folder and set parameters

7. Start serial communication

   mick@mick-Predator-PHN16-71:~/catkin_ft$ rosparam set /RFT_COM_PORT /dev/ttyUSB0
   mick@mick-Predator-PHN16-71:~/catkin_ft$ rosparam set /RFT_TORQUE_DEVIDER 1000
   mick@mick-Predator-PHN16-71:~/catkin_ft$ rosrun rft_sensor_serial rft_sensor_serial

If there is error even after package got built, then go to the Common Errors section.

8. Starting rqt-service caller:

mick@mick-Predator-PHN16-71:~/catkin_ft$ source devel/setup.bash 
mick@mick-Predator-PHN16-71:~/catkin_ft$ rosrun rqt_service_caller rqt_service_caller

9. Set streaming parameters

10. start steaming (via the software)

11. echo rostopic:

   mick@mick-Predator-PHN16-71:~/catkin_ft$ rostopic echo /RFT_Force

12. Run the sensor and get data on rostopic.

#Important Key Points

• Building ROS from Source: Ensure ROS is built from the source for proper integration.

• Sourcing ROS: Always remember to source ROS; it's crucial. Alternatively, add it to ~/.bashrc.

• Using Rosdep: Utilize rosdep to install all necessary dependencies efficiently.

• Port Access: Check if your port is locked by another process or if you lack access permissions.

#Common Errors

Example of a common error encountered:

mick@mick-Predator-PHN16-71:~/catkin_ft$ source devel/setup.bash
mick@mick-Predator-PHN16-71:~/catkin_ft$ rosrun rft_sensor_serial rft_sensor_serial
[ INFO] [1713562305.371650824]: RFT Serial port: /dev/ttyUSB0
[ INFO] [1713562305.372459789]: RFT Serial port baud-rate: 115200
[ INFO] [1713562305.372557372]: Force Divider of RFT sensor: 50.000000
[ INFO] [1713562305.372640026]: Torque Divider of RFT sensor: 1000.000000
[ERROR] [1713562305.372774309]: COM Port Open Error

#Resolving Errors

Steps to resolve port access issues:

mick@mick-Predator-PHN16-71:~/catkin_ft$ sudo chmod 666 /dev/ttyUSB0
mick@mick-Predator-PHN16-71:~/catkin_ft$ sudo usermod -a -G dialout $USER
mick@mick-Predator-PHN16-71:~/catkin_ft$ lsof | grep ttyUSB0
mick@mick-Predator-PHN16-71:~/catkin_ft$ source devel/setup.bash

#Successful Configuration

Output after resolving the issue:

mick@mick-Predator-PHN16-71:~/catkin_ft$ rosrun rft_sensor_serial rft_sensor_serial
[ INFO] [1713562410.453484136]: RFT Serial port: /dev/ttyUSB0
[ INFO] [1713562410.453849304]: RFT Serial port baud-rate: 115200
[ INFO] [1713562410.454102646]: Force Divider of RFT sensor: 50.000000
[ INFO] [1713562410.454469397]: Torque Divider of RFT sensor: 1000.000000
[ INFO] [1713562410.456895889]: RFT Force/Torque Sensor <Serial> is ready!!!!

Method 2 ( Directly calling the rosservice via terminal )

1. Complete till the step 7 of Method 1

2. Call rosservice /rft_serial_op_service and pass the params from the image in step 9 into the input parameters.

   To start the communication

   mick@mick-Predator-PHN16-71:~/Robotous_FT_RFT60/catkin_ft$ rosservice call /rft_serial_op_service "{opType: 11, param1: 0, param2: 0, param3: 0}"

   To automatically set the bias values

   mick@mick-Predator-PHN16-71:~/Robotous_FT_RFT60/catkin_ft$ rosservice call /rft_serial_op_service "{opType: 17, param1: 1, param2: 0, param3: 0}"

   To stop the service:

   mick@mick-Predator-PHN16-71:~/Robotous_FT_RFT60/catkin_ft$ rosservice call /rft_serial_op_service "{opType: 12, param1: 0, param2: 0, param3: 0}"

3. Echo the topic to see the F/T data being published

4.  mick@mick-Predator-PHN16-71:~/Robotous_FT_RFT60/catkin_ft$ rostopic list
    mick@mick-Predator-PHN16-71:~/Robotous_FT_RFT60/catkin_ft$ rostopic echo /RFT_FORCE

5. Making a simple bash script to automate this is preferred. A simple one named rft_rosservice.sh is created and the following commands added to it

    #!/bin/bash
    
    # roscore in the background
    roscore &
    
    # Source the FT sensor workspace
    source ~/Robotous_FT_RFT60/catkin_ft/devel/setup.bash
    
    
    # Set the necessary parameters
    rosparam set /RFT_COM_PORT /dev/ttyUSB0
    rosparam set /RFT_TORQUE_DEVIDER 1000
    
    # Run the rft_sensor_serial node in the background
    rosrun rft_sensor_serial rft_sensor_serial &
    
    # Capture the process ID of the background job
    NODE_PID=$!
    
    # Function to stop the service and clean up
    cleanup() {
        rosservice call /rft_serial_op_service "{opType: 12, param1: 0, param2: 0, param3: 0}"
        kill $NODE_PID
    }
    
    # Set trap to catch termination signals and run cleanup
    trap cleanup SIGINT SIGTERM
    
    # Wait for the node to initialize
    sleep 2
    
    # Set bias values
    rosservice call /rft_serial_op_service "{opType: 17, param1: 1, param2: 0, param3: 0}"
    
    
    # Start communication
    rosservice call /rft_serial_op_service "{opType: 11, param1: 0, param2: 0, param3: 0}"
    
    
    # Echo the topic
    rostopic echo /RFT_FORCE
    
    # Wait indefinitely until the script is terminated
    wait $NODE_PID