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ms-iot / ROSOnWindows

ROS on Windows Documentation Repository
https://aka.ms/ros/docs
MIT License
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[Port] Support kuka_experimental on Windows #294

Open ooeygui opened 3 years ago

ooeygui commented 3 years ago

We have had a commercial request for Kuka ROS node on Windows. https://answers.ros.org/question/363614/build-kuka_experimental-package-on-windows-10-ros1-noetic/

Edit to add link to repo: http://wiki.ros.org/kuka_eki_hw_interface

This package depends on industrial core: https://github.com/ros-industrial/industrial_core

gavanderhoorn commented 3 years ago

This package depends on industrial core: https://github.com/ros-industrial/industrial_core

Only for an RViz configuration file.

That dependency is not important.

ooeygui commented 3 years ago

@gavanderhoorn Thanks for that tip - I started porting it - but will look into the Kuka one. Looking into it further, it was last updated for indigo and still marked experimental. Is there a more current Kuka ROS implementation we should be looking into?

gavanderhoorn commented 3 years ago

Looking into it further, it was last updated for indigo and still marked experimental. Is there a more current Kuka ROS implementation we should be looking into?

We follow a branch-when-needed policy. Afaik, everything in there can be built on Indigo, Kinetic and Melodic. Hence no new branch.

And I expect only the RSI and EKI hardware_interfaces to require any changes. All other packages are robot support packages, which contain no code.

traversaro commented 3 years ago

For what regards the KUKA RSI server, we ported it in the past for an internal project on Windows. At the time we did not ported the fixes upstream because the Windows interested seemed low, and also because we needed a non-ROS package to consume it as a dependency, so even if the fix was upstreamed we could not use it. However, if you want to take an inspiration the version that we are using is https://gist.github.com/traversaro/93de691ffb1b5344d1b127dca58233d3 (it is a modified version of https://github.com/ros-industrial/kuka_experimental/blob/indigo-devel/kuka_rsi_hw_interface/include/kuka_rsi_hw_interface/udp_server.h). However, note that, at least for what concern RSI it a protocol that is suppose to exchange data with the robot at 250 Hz, so depending on the specific application it may not be trivial to obtain on Windows the same performance that you obtained (for example) on a Linux with PREEMPT RT patch.

gavanderhoorn commented 3 years ago

@traversaro wrote:

note that, at least for what concern RSI it a protocol that is suppose to exchange data with the robot at 250 Hz, so depending on the specific application it may not be trivial to obtain on Windows the same performance that you obtained (for example) on a Linux with PREEMPT RT patch.

yeah, I've mentioned something similar to the user requesting this.

They were more interested in EKI though, which will probably be doable.

But I don't guarantee anything.

ooeygui commented 3 years ago

@traversaro Thanks for the info. 250hz is achievable on Windows using system configuration. (We have documentation incoming which will cover sub-millisecond time criticality)

This would be a good test case for it.

gavanderhoorn commented 3 years ago

Out of curiosity: are there any updates @ooeygui ?

ooeygui commented 3 years ago

@gavanderhoorn I was able to borrow two kuka arms, and trying to build a workcell in my garage LOL. I have a plan for the realtime control loop on Windows.

If you have interested customers, I would love to chat about them!

gavanderhoorn commented 3 years ago

I was able to borrow two kuka arms, and trying to build a workcell in my garage

:) hm, maybe I should start porting stuff too ..

ooeygui commented 3 years ago

I created a Windows Staging Fork here: https://github.com/ms-iot/kuka_experimental. We will PR up to ROS industrial once we are able to validate on a robot.

traversaro commented 3 years ago

Hi @ooeygui, those seems to be KUKA iiwa, and I am afraid that they do not support the RSI protocol, did you checked with KUKA?

ooeygui commented 3 years ago

@traversaro well, bummer. (it's for a different project, I thought I could combine workstreams)

traversaro commented 3 years ago

As far as I know those robots support another protocol called Fast Research Interface (FRI), but I may be wrong.

gavanderhoorn commented 3 years ago

Well .. it depends a bit on which version of the IIWA that is (LWRs could use it IIRC).

But it's likely these don't support RSI.

As far as I know those robots support another protocol called Fast Research Interface (FRI), but I may be wrong.

~Older~ IIWAs would use FRI indeed. With newer ones (Sunrise) you could also use SmartServo/DirectServo (but those are not external interfaces).

ooeygui commented 3 years ago

@gavanderhoorn @traversaro thanks for the chat. I haven't reached out to my contacts at Kuka yet. These are 2017 models. I am missing a few parts, so haven't been able to power them up yet to get more details.

gavanderhoorn commented 3 years ago

Is your "other project" going to / interested in using ROS 2 with those robots? If so, send me an email.

gavanderhoorn commented 3 years ago

@ooeygui: what's the status here? You mentioned (here or on ROS Answers) you had some dependencies of the RSI / EKI packages which also needed some patches. Would that be ros_control/hardware_interface by any chance?

It seems we're running into similar issues with abb_robot_driver. I've @-mentioned you there.

ooeygui commented 3 years ago

@gavanderhoorn Thanks for the ping on this. I have a PR into the ms-iot staging branch, but haven't had an opportunity to test it. https://github.com/ms-iot/kuka_experimental/pull/2. I haven't investigated the ros_control issues, I'm going to work with @lilustga who is the manipulation lead in AERo.

gavanderhoorn commented 3 years ago

I've left a comment on the PR.

I believe we're running into similar problems with base ros_control and ERROR in https://github.com/ros-industrial/abb_robot_driver/issues/17.