Indy ROS2

Introduction

Indy is Neuromeka’s flagship cobot model we designed and manufactured. Guaranteeing workers’ safety based on innovative collision detection algorithms, Indy supports more intuitive direct teaching by impedance control as well as online and offline programming with the teach pendant app running on android tablets.

This repository contains ROS2 drivers for Indy7, Indy7V2, IndyRP2, IndyRP2V2 and Indy12.

Preparation

The following software needs to be installed:

• ROS2 Humble
• Neuromeka Package

  pip3 install neuromeka
  pip3 install --upgrade neuromeka

Installation

Install dependencies

sudo apt install python3-rosdep
sudo apt install python3-rosdep2
sudo rosdep init
rosdep update
sudo apt update
sudo apt install rospack-tools
sudo apt install python3-colcon-common-extensions
sudo apt install python3-colcon-mixin
colcon mixin add default https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
colcon mixin update default
sudo apt install python3-vcstool

sudo apt install -y ros-humble-xacro \
ros-humble-moveit \
ros-humble-moveit-servo \
ros-humble-ros2-control \
ros-humble-ros2-controllers \
ros-humble-moveit-ros-move-group \
ros-humble-moveit-planners-ompl \
ros-humble-moveit-kinematics \
ros-humble-gazebo-ros \
ros-humble-gazebo-ros2-control \
ros-humble-controller-manager \
ros-humble-joint-state-broadcaster \
ros-humble-joint-state-publisher-gui \
ros-humble-joint-trajectory-controller \
ros-humble-moveit-ros-perception \
ros-humble-rviz-visual-tools \
ros-humble-moveit-visual-tools \
ros-humble-moveit-resources

Switch to Cyclone DDS

sudo apt install ros-humble-rmw-cyclonedds-cpp

Add this to ~/.bashrc to source it automatically

export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp

Create workspace

Create workspace and download the source code

cd
mkdir -p indy-ros2/src
cd ~/indy-ros2/src
git clone <this repository url>

Build the source code

cd ~/indy-ros2/
colcon build

Source the setup file

. install/setup.bash

Usage

Use indy_type to choose specific robot (indy7, indy7_v2, indy12, indyrp2, indyrp2_v2).\ Use indy_eye to enable Indy Eye model (support indy7, indyrp2).\ To enable Indy Eye, add indy_eye:=true to the end of command

If not specified, the default value will be indy7.\ When used with a real robot, you need to provide an indy_ip value.

Servoing mode with Joy Controller (tested with XBOX ONE S gamepad)\ Using Dpad to control joint 1 and joint 2.\ B and X control joint 4\ Y and A control joint 3\ Left joystick, right joystick, LB, RB, LT, RT to control TCP.\ On Real Robot\ Use 'LEFT_STICK_CLICK' to move Home, 'RIGHT_STICK_CLICK' to move Zero, 'XBOX' to Recover, 'HOME' to Start/Stop Teleop

Servoing mode with Keyboard\ Common Use\ Use arrow keys and the '.' and ';' keys to Cartesian jog\ Use 'W' to Cartesian jog in the world frame, and 'E' for the End-Effector frame\ Use 'N' 'M' ',' for the Task move UVW\ Use 1|2|3|4|5|6|7 keys to joint jog. 'R' to reverse the direction of jogging.\ Use '-' '+' to adjust joint speed\ Use '9' '0' to adjust task speed\ 'Q' to quit.\ On Real Robot\ Use 'H' to move Home, 'Z' to move Zero, 'S' to Recover, 'P' to stop Teleop\

Generate your URDF files\ You can generate your URDF files using generate_all_urdfs.sh file in indy_description/urdf folder

cd </..path../..to../indy_description/urdf/>
sudo chmod +x generate_all_urdfs.sh
./generate_all_urdfs.sh

Start Indy description

ros2 launch indy_description indy_display.launch.py indy_type:=indy7

Simulation Robot

Start Indy Robot

ros2 launch indy_gazebo indy_gazebo.launch.py indy_type:=indy7

Start Indy with MoveIt

ros2 launch indy_moveit indy_moveit_gazebo.launch.py indy_type:=indy7

Start Indy with Servoing

ros2 launch indy_moveit indy_moveit_gazebo.launch.py indy_type:=indy7 servo_mode:=true

Start keyboard or controller

ros2 run indy_driver servo_keyboard_input.py --ros-args -p is_sim:=true

ros2 run indy_driver servo_joy_input.py --ros-args -p is_sim:=true

Real Robot

Start Indy Robot

ros2 launch indy_driver indy_bringup.launch.py indy_type:=indy7 indy_ip:=192.168.xxx.xxx

Start Indy with MoveIt

ros2 launch indy_moveit indy_moveit_real_robot.launch.py indy_type:=indy7 indy_ip:=192.168.xxx.xxx

Start Indy with Servoing

ros2 launch indy_moveit indy_moveit_real_robot.launch.py indy_type:=indy7 indy_ip:=192.168.xxx.xxx servo_mode:=true

Start keyboard or controller

ros2 run indy_driver servo_keyboard_input.py --ros-args -p is_sim:=false

ros2 run indy_driver servo_joy_input.py --ros-args -p is_sim:=false

Docker Setup Instructions for ROS2 Humble

Install Docker

If Docker is not installed on your system, follow these steps:

sudo apt update \
&& sudo apt install -y docker.io \
&& sudo systemctl start docker \
&& sudo systemctl enable docker

Navigate to the Dockerfile Directory

cd ~/indy-ros2/docker

Build the Docker Image

sudo docker build -t ros2_humble_neuromeka:humble-indyDCP3 .

Verify the docker Image, if docker is successfully updated, you can find the docker image.

sudo docker images

Prepare for GUI Applications (Rviz, Gazebo) using your monitor:

xhost +local:docker

Create and start a Docker container named ros2_humble_neuromeka_container, enabling GUI support:

sudo docker run -it --name \
ros2_humble_neuromeka_container \
-e DISPLAY=$DISPLAY \
-v /tmp/.X11-unix:/tmp/.X11-unix \
ros2_humble_neuromeka:humble-indyDCP3

Access the Docker Container in Another Terminal

sudo docker exec -it ros2_humble_neuromeka_container bash

Your Docker environment is now configured.