Authors: Gokul Krishna Chenchani, Kevin Patel, Shubham Shinde, Vivek Mannava
Date: 15-Feb-2023

BMT (Basic Manipulation Task) setup

Required Environment and setup for YOUBOT

  • Arena should be mapped (Tutorial for mapping the arena can be found here).

  • Objects are to be placed on the workstation.

  • Planning PDDL file is to be prepared.

  • A demo ppdl file can be found at mas_industrial_robotics/mir_planning/mir_knowledge/common/pddl/general_domain/mini_BMT_demo.pddl.

    • This ppdl assumes that objects S40_40_B, INSULATION_TAPE are placed on WS03.

    • The objects are to be picked from WS03 and placed on WS01.

    • The robot being used is youbot (yb2).

Steps to follow for BMT setup

Note

  • Every alias starting with t will open a shared terminal (tmux).

  • To detatch from the tmux terminal, press crtl+a and then d key.

  • Switch on the youbot and make sure you are connected to WiFi network b-it-bots on your computer.

  1. Open new terminal (terminal 1) and connect to youbot using below command.

ssh robocup@192.168.1.114 #this ip is for yb2

  • Once your password and fingerprint has been verified, then a connection will be established and you can continue with the following steps.

  1. In the terminal (terminal 1) run troscore command – this will open shared terminal.

troscore

or

tmux new -A -s roscore

  1. Now in the same terminal session (terminal 1) run roscore command.

roscore

  1. Now open a different terminal (terminal 2) and connect to youbot and then run tbringup command.

tbringup

or

tmux new -A -s bringup

  1. Once tbringup is done then in the same terminal session (terminal 2) run bringup command.

bringup

or

roslaunch mir_bringup robot.launch

  • Now wait for robot to get initialised - you will see that the arm of the robot is moved into a preconfigured position if it is not in it already and gripper connection is also verified.

  1. After initializing is done, open a different terminal (terminal 3) and connect to youbot and then run tplanning_bringup command.

tplanning_bringup

or

tmux new -A -s planning_bringup

  1. Now in this terminal session (terminal 3) run planning_bringup command.

planning_bringup

or

roslaunch mir_planning_bringup robot.launch

  1. Now open new terminal (terminal 4) and connect to youbot and then run t2dnav command.

t2dnav

or

tmux new -A -s 2dnav

  1. Now in this session (terminal 4) run nav2d command.

nav2d

or

roslaunch mir_2dnav 2dnav.launch

  • Then place the youbot at the starting position of the arena using joystick.

  1. Now Open a new terminal (terminal 5) on local system and run below export command.

export ROS_MASTER_URI=http://192.168.1.114:11311 #this ip is for yb2

  1. Now in this same terminal (terminal 5) run rviz command.

rviz

  • Then in the RVIZ window open the config file named youbot.rviz (located in mas_industrial_robotics ROS package).

  • Set the Fixed Frame in Global Options to map.

  • Once the file is loaded then localize the youbot using 2d pose esitimate as show in the image below

../../_images/rviz_config_1_1.png

  • Then place the green arrow at location where youbot is actually present in the arena, and rotate the robot till the amcl particles (the tiny red arrows) consolidate. This means the robot is now localized.

  1. After the localization is done then open a new terminal (terminal 6) and connect to youbot and then run tskynet command.

tskynet

or

tmux new -A -s skynet

  1. Now in the same terminal session (terminal 6) run skynet command.

skynet

or

roslaunch mir_planning_core task_planning_sm.launch

  1. Now open a new terminal (terminal 7) and connect to youbot and then run nightwatch command.

nightwatch

or

cd .ros; watch cat ~/.ros/task_plan.plan

  • The robot will now execute the actions as required by the ppdl file.

  • Once all the tasks completed then kill every node in the terminals one after the other in reverse order.